OpenSim::EllipsoidJoint Class Reference

A class implementing an Ellipsoid joint. More...

#include <EllipsoidJoint.h>

Inheritance diagram for OpenSim::EllipsoidJoint:

List of all members.

Public Member Functions
	EllipsoidJoint ()
	Default constructor.
	EllipsoidJoint (const std::string &name, OpenSim::Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, OpenSim::Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SimTK::Vec3 ellipsoidRadii, bool reverse=false)
	Convenience Constructor.
	EllipsoidJoint (const EllipsoidJoint &aJoint)
	Copy constructor.
virtual	~EllipsoidJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
EllipsoidJoint &	operator= (const EllipsoidJoint &aJoint)
	Assignment operator.
void	copyData (const EllipsoidJoint &aJoint)
	Copy data members from one EllipsoidJoint 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
void	setEllipsoidRadii (SimTK::Vec3 radii)
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
Protected Member Functions
void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
void	initState (SimTK::State &s) const
	This is called after a SimTK System and State have been created for the Model.
void	setDefaultsFromState (const SimTK::State &state)
	Set all default values for this object to match those in a specified State.
Protected Attributes
PropertyDblVec3	_ellipsoidRadiiProp
	Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ).
SimTK::Vec3 &	_ellipsoidRadii

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Detailed Description

A class implementing an Ellipsoid joint.

The underlying implementation in Simbody is a MobilizedBody::Ellipsoid.

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

EllipsoidJoint::EllipsoidJoint

(

)

Default constructor.

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

Convenience Constructor.

EllipsoidJoint::EllipsoidJoint

(

const EllipsoidJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

EllipsoidJoint to be copied.

EllipsoidJoint::~EllipsoidJoint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * EllipsoidJoint::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 EllipsoidJoint::copyData

(

const EllipsoidJoint &

aJoint

)

Copy data members from one EllipsoidJoint to another.

Parameters:

aJoint

EllipsoidJoint to be copied.

Reimplemented from OpenSim::Joint.

void EllipsoidJoint::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.

void EllipsoidJoint::initState

(

SimTK::State &

state

)

const [protected, virtual]

This is called after a SimTK System and State have been created for the Model.

It may be overridden to set initial values of state variables.

Parameters:

state

the State to initialize

Reimplemented from OpenSim::Joint.

virtual int OpenSim::EllipsoidJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

EllipsoidJoint & EllipsoidJoint::operator=

(

const EllipsoidJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void EllipsoidJoint::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 EllipsoidJoint::setDefaultsFromState

(

const SimTK::State &

state

)

[protected, virtual]

Set all default values for this object to match those in a specified State.

It should be overridden to set any default values defined by each subclass.

Parameters:

state

the State from which to take values that should become the defaults for this object

Reimplemented from OpenSim::Joint.

void OpenSim::EllipsoidJoint::setEllipsoidRadii

(

SimTK::Vec3

radii

)

void EllipsoidJoint::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 EllipsoidJoint.

Reimplemented from OpenSim::Joint.

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Member Data Documentation

SimTK::Vec3& OpenSim::EllipsoidJoint::_ellipsoidRadii [protected]

PropertyDblVec3 OpenSim::EllipsoidJoint::_ellipsoidRadiiProp [protected]

Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ).

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

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