OpenSim::CustomJoint Class Reference

A class implementing a custom joint. More...

#include <CustomJoint.h>

Inheritance diagram for OpenSim::CustomJoint:

List of all members.

Public Member Functions
	CustomJoint ()
	Default constructor.
	CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SpatialTransform &aSpatialTransform, bool reverse=false)
	Constructor.
	CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
	Convenience Constructor.
	CustomJoint (const CustomJoint &aJoint)
	Copy constructor.
virtual	~CustomJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
CustomJoint &	operator= (const CustomJoint &aJoint)
	Assignment operator.
void	copyData (const CustomJoint &aJoint)
	Copy data members from one CustomJoint to another.
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual int	numCoordinates () const
virtual SpatialTransform &	getSpatialTransform () const
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
virtual void	updateFromXMLNode ()
	Override of the default implementation to account for versioning.
	OPENSIM_DECLARE_DERIVED (CustomJoint, Joint)
Protected Member Functions
void	constructCoordinates ()
	Construct coordinates according to the mobilities of the Joint.
void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
Protected Attributes
PropertyObj	_spatialTransformProp
	Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates.
SpatialTransform &	_spatialTransform
Friends
class	SimbodyEngine
class	CoordinateCouplerConstraint

---

Detailed Description

A class implementing a custom joint.

The underlying joint in Simbody is a custom mobilizer.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

CustomJoint::CustomJoint

(

)

Default constructor.

CustomJoint::CustomJoint	(	const std::string &	name,
		OpenSim::Body &	parent,
		SimTK::Vec3	locationInParent,
		SimTK::Vec3	orientationInParent,
		OpenSim::Body &	body,
		SimTK::Vec3	locationInBody,
		SimTK::Vec3	orientationInBody,
		SpatialTransform &	aSpatialTransform,
		bool	reverse = false
	)

Constructor.

CustomJoint::CustomJoint	(	const std::string &	name,
		OpenSim::Body &	parent,
		SimTK::Vec3	locationInParent,
		SimTK::Vec3	orientationInParent,
		OpenSim::Body &	body,
		SimTK::Vec3	locationInBody,
		SimTK::Vec3	orientationInBody,
		bool	reverse = false
	)

Convenience Constructor.

CustomJoint::CustomJoint

(

const CustomJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

CustomJoint to be copied.

CustomJoint::~CustomJoint

(

)

[virtual]

Destructor.

---

Member Function Documentation

void CustomJoint::constructCoordinates

(

)

[protected]

Construct coordinates according to the mobilities of the Joint.

Reimplemented from OpenSim::Joint.

Object * CustomJoint::copy

(

)

const [virtual]

Copy this body and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this OpenSim::Body.

Implements OpenSim::Joint.

void CustomJoint::copyData

(

const CustomJoint &

aJoint

)

Copy data members from one CustomJoint to another.

Parameters:

aJoint

CustomJoint to be copied.

Reimplemented from OpenSim::Joint.

void CustomJoint::createSystem

(

SimTK::MultibodySystem &

system

)

const [protected, virtual]

This is called when a SimTK System is being created for the Model.

It should be overridden to add appropriate elements to the System corresponding to this object.

Parameters:

system

the System being created

Reimplemented from OpenSim::Joint.

virtual SpatialTransform& OpenSim::CustomJoint::getSpatialTransform

(

)

const [inline, virtual]

virtual int OpenSim::CustomJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

OpenSim::CustomJoint::OPENSIM_DECLARE_DERIVED	(	CustomJoint	,
		Joint
	)

CustomJoint & CustomJoint::operator=

(

const CustomJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void CustomJoint::scale

(

const ScaleSet &

aScaleSet

)

[virtual]

Scale a joint based on XYZ scale factors for the bodies.

Parameters:

aScaleSet

Set of XYZ scale factors for the bodies.

Reimplemented from OpenSim::Joint.

void CustomJoint::setup

(

Model &

aModel

)

[virtual]

Perform some set up functions that happen after the object has been deserialized or copied.

Parameters:

aEngine

dynamics engine containing this CustomJoint.

Reimplemented from OpenSim::Joint.

void CustomJoint::updateFromXMLNode

(

)

[virtual]

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Object.

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Friends And Related Function Documentation

friend class CoordinateCouplerConstraint [friend]

friend class SimbodyEngine [friend]

Reimplemented from OpenSim::Joint.

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Member Data Documentation

SpatialTransform& OpenSim::CustomJoint::_spatialTransform [protected]

PropertyObj OpenSim::CustomJoint::_spatialTransformProp [protected]

Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates.

Motion over 6 (independent) spatial axes must be defined.

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

• OpenSim/Simulation/SimbodyEngine/CustomJoint.h
• OpenSim/Simulation/SimbodyEngine/CustomJoint.cpp