SimTK::MobilizedBody::Universal Class Reference

Two mobilities -- rotation about the x axis, followed by a rotation about the new y axis. More...

#include <MobilizedBody.h>

Inheritance diagram for SimTK::MobilizedBody::Universal:

List of all members.

Public Member Functions
	Universal (Direction=Forward)
	Universal (MobilizedBody &parent, const Body &, Direction=Forward)
	By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
	Universal (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Direction=Forward)
	Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Universal &	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P.
Universal &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Universal &	addInboardDecoration (const Transform &X_FD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P.
Universal &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Universal &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Universal, UniversalImpl, MobilizedBody)

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Detailed Description

Two mobilities -- rotation about the x axis, followed by a rotation about the new y axis.

This mobilizer is badly behaved when the second rotation is near 90 degrees.

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Universal::Universal

(

Direction

= Forward

)

[explicit]

SimTK::MobilizedBody::Universal::Universal	(	MobilizedBody &	parent,
		const Body &	,
		Direction	= Forward
	)

By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.

SimTK::MobilizedBody::Universal::Universal	(	MobilizedBody &	parent,
		const Transform &	inbFrame,
		const Body &	,
		const Transform &	outbFrame,
		Direction	= Forward
	)

Use this constructor to specify mobilizer frames which are not coincident with the body frames.

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Member Function Documentation

Universal& SimTK::MobilizedBody::Universal::addBodyDecoration	(	const Transform &	X_BD,
		const DecorativeGeometry &	g
	)		[inline]

Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P.

Note that the body itself may already have had some decorative geometry on it when it was first put into this MobilizedBody; in that case this just adds more.

Reimplemented from SimTK::MobilizedBody.

Universal& SimTK::MobilizedBody::Universal::addOutboardDecoration	(	const Transform &	X_MD,
		const DecorativeGeometry &
	)		[inline]

Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.

If body B already has decorative geometry on it, this just adds some more.

Reimplemented from SimTK::MobilizedBody.

Universal& SimTK::MobilizedBody::Universal::addInboardDecoration	(	const Transform &	X_FD,
		const DecorativeGeometry &
	)		[inline]

Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P.

If body P already has decorative geometry on it, this just adds some more.

Reimplemented from SimTK::MobilizedBody.

Universal& SimTK::MobilizedBody::Universal::setDefaultInboardFrame

(

const Transform &

X_PF

)

[inline]

Change this mobilizer's frame F on the parent body P.

Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.

Reimplemented from SimTK::MobilizedBody.

Universal& SimTK::MobilizedBody::Universal::setDefaultOutboardFrame

(

const Transform &

X_BM

)

[inline]

Change this mobilizer's frame M fixed on this (the outboard) body B.

Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.

Reimplemented from SimTK::MobilizedBody.

SimTK::MobilizedBody::Universal::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Universal	,
		UniversalImpl	,
		MobilizedBody
	)

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The documentation for this class was generated from the following file:

• MobilizedBody.h