SimTK::Motion::Steady Class Reference

This non-holonomic Motion object imposes a constant rate on all mobilities. More...

#include <Motion.h>

Inheritance diagram for SimTK::Motion::Steady:

List of all members.

Public Member Functions
	Steady (MobilizedBody &mobod, Real u)
	Create a Motion::Steady where all mobilities have the same velocity.
template<int N>
	Steady (MobilizedBody &mobod, const Vec< N > &u)
	Create a Motion::Steady with different velocities for each mobility specified.
Steady &	setDefaultRate (Real u)
Steady &	setOneDefaultRate (UIndex, Real u)
template<int N>
Steady &	setDefaultRates (const Vec< N > &u)
Real	getDefaultRate (UIndex=UIndex(0)) const
void	setRate (State &, Real u) const
void	setOneRate (State &, UIndex, Real u) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Steady, SteadyImpl, Motion)

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Detailed Description

This non-holonomic Motion object imposes a constant rate on all mobilities.

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Constructor & Destructor Documentation

SimTK::Motion::Steady::Steady	(	MobilizedBody &	mobod,
		Real	u
	)

Create a Motion::Steady where all mobilities have the same velocity.

Parameters:

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rate to be applied to all mobilities

template<int N>

SimTK::Motion::Steady::Steady	(	MobilizedBody &	mobod,
		const Vec< N > &	u
	)

Create a Motion::Steady with different velocities for each mobility specified.

Any unspecified mobilities will get zero velocity.

Parameters:

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rates to be applied to the first N mobilities; the rest are set to zero

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Member Function Documentation

Steady& SimTK::Motion::Steady::setDefaultRate

(

Real

u

)

Steady& SimTK::Motion::Steady::setOneDefaultRate	(	UIndex	,
		Real	u
	)

template<int N>

Steady& SimTK::Motion::Steady::setDefaultRates

(

const Vec< N > &

u

)

Real SimTK::Motion::Steady::getDefaultRate

(

UIndex

= UIndex(0)

)

const

void SimTK::Motion::Steady::setRate	(	State &	,
		Real	u
	)		const

void SimTK::Motion::Steady::setOneRate	(	State &	,
		UIndex	,
		Real	u
	)		const

SimTK::Motion::Steady::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Steady	,
		SteadyImpl	,
		Motion
	)

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

• Motion.h