OpenSim::FreeJoint Class Reference

A class implementing a Free joint. More...

#include <FreeJoint.h>

Inheritance diagram for OpenSim::FreeJoint:

List of all members.

Public Member Functions
	FreeJoint ()
	Default constructor.
	FreeJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool useEulerAngles=true, bool reverse=false)
	Convenience Constructor.
	FreeJoint (const FreeJoint &aJoint)
	Copy constructor.
virtual	~FreeJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
FreeJoint &	operator= (const FreeJoint &aJoint)
	Assignment operator.
void	copyData (const FreeJoint &aJoint)
	Copy data members from one FreeJoint 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 void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
	OPENSIM_DECLARE_DERIVED (FreeJoint, Joint)
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
PropertyBool	_useEulerAnglesProp
	Flag to use Euler angles to parameterize rotation of the body.
bool &	_useEulerAngles

---

Detailed Description

A class implementing a Free joint.

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

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

FreeJoint::FreeJoint

(

)

Default constructor.

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

Convenience Constructor.

FreeJoint::FreeJoint

(

const FreeJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

FreeJoint to be copied.

FreeJoint::~FreeJoint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * FreeJoint::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 FreeJoint::copyData

(

const FreeJoint &

aJoint

)

Copy data members from one FreeJoint to another.

Parameters:

aJoint

FreeJoint to be copied.

Reimplemented from OpenSim::Joint.

void FreeJoint::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 FreeJoint::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::FreeJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

OpenSim::FreeJoint::OPENSIM_DECLARE_DERIVED	(	FreeJoint	,
		Joint
	)

FreeJoint & FreeJoint::operator=

(

const FreeJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void FreeJoint::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 FreeJoint::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 FreeJoint::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 FreeJoint.

Reimplemented from OpenSim::Joint.

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Member Data Documentation

bool& OpenSim::FreeJoint::_useEulerAngles [protected]

PropertyBool OpenSim::FreeJoint::_useEulerAnglesProp [protected]

Flag to use Euler angles to parameterize rotation of the body.

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

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