OpenSim::Joint Class Reference

A class implementing an OpenSim Joint. More...

#include <Joint.h>

Inheritance diagram for OpenSim::Joint:

List of all members.

Public Member Functions
	Joint ()
	Default constructor.
	Joint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
	API constructor.
	Joint (const Joint &aJoint)
	Copy constructor.
virtual	~Joint ()
	Destructor.
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
Joint &	operator= (const Joint &aJoint)
	Assignment operator.
void	copyData (const Joint &aJoint)
	Copy data members from one Joint to another.
virtual Object *	copy () const =0
	Construct and return a copy of this object.
virtual void	setBody (OpenSim::Body &aBody)
	Set the body to which this joint belongs.
virtual OpenSim::Body &	getBody () const
	Get the body to which this joint belongs.
virtual void	setLocation (const SimTK::Vec3 &aLocation)
	Set the location of this joint in its body.
virtual void	getLocation (SimTK::Vec3 &rLocation) const
	Get the location of this joint in its child body.
virtual void	setOrientation (const SimTK::Vec3 &aOrientation)
	Set the orientation of this joint in its body.
virtual void	getOrientation (SimTK::Vec3 &rOrientation) const
	Get the orientation of this joint in its body.
void	setParentName (const std::string &aName)
std::string	getParentName () const
	Get the name of the joint's parent body.
virtual void	setParentBody (OpenSim::Body &aBody)
	Set the parent body to which this joint attaches.
virtual OpenSim::Body &	getParentBody () const
	Get the parent body to which this joint attaches.
virtual void	setLocationInParent (const SimTK::Vec3 &aLocation)
	Set the location of this joint in its parent body.
virtual void	getLocationInParent (SimTK::Vec3 &rLocation) const
	Get the location of this joint in its parent body.
virtual void	setOrientationInParent (const SimTK::Vec3 &aOrientation)
	Set the orientation of this joint in its parent body.
virtual void	getOrientationInParent (SimTK::Vec3 &rOrientation) const
	Get the orientation of this joint in its parent body.
virtual void	getLocationInParent (double rLocation[]) const
virtual void	setLocationInChild (const SimTK::Vec3 &aLocation)
virtual void	getLocationInChild (double rLocation[]) const
virtual void	getLocationInChild (SimTK::Vec3 &rLocation) const
virtual CoordinateSet &	getCoordinateSet () const
virtual bool	getReverse () const
virtual int	numCoordinates () const =0
virtual void	checkParentBody ()
	Verify that the parent specified by this joint is in the underlying Simbody model/system.
virtual bool	isCoordinateUsed (Coordinate &aCoordinate) const
	Check if a coordinate is used by the Joint.
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
	OPENSIM_DECLARE_DERIVED (Joint, Object)
void	updateName (const std::string &aName)
Protected Member Functions
void	constructCoordinates ()
	Construct coordinates according to the mobilities of the Joint.
SimTK::MobilizedBodyIndex	getMobilizedBodyIndex (Body *aBody) const
void	setMobilizedBodyIndex (Body *aBody, SimTK::MobilizedBodyIndex index) const
void	setCoordinateMobilizedBodyIndex (Coordinate *aCoord, SimTK::MobilizedBodyIndex index) const
void	setCoordinateMobilityIndex (Coordinate *aCoord, int index) const
void	setCoordinateModel (Coordinate *aCoord, Model *aModel) const
SimTK::MultibodySystem &	getMultibodySystem () const
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
PropertyStr	_parentNameProp
	Name of the parent body to which this joint connects its owner body.
std::string &	_parentName
PropertyDblVec3	_locationInParentProp
	Location of the joint in the parent body specified in the parent reference frame.
SimTK::Vec3 &	_locationInParent
PropertyDblVec3	_orientationInParentProp
	Orientation of the joint in the parent body specified in the parent reference frame.
SimTK::Vec3 &	_orientationInParent
PropertyDblVec3	_locationProp
	Location of the joint in the child body specified in the child reference frame.
SimTK::Vec3 &	_location
PropertyDblVec3	_orientationProp
	Orientation of the joint in the owing body specified in the owning body reference frame.
SimTK::Vec3 &	_orientation
PropertyObj	_coordinateSetProp
	Set holding the generalized coordinates (q's) that parmeterize this joint.
CoordinateSet &	_coordinateSet
PropertyBool	_reverseProp
	Whether the joint transform defines parent->child or child->parent.
bool &	_reverse
SimTK::MobilizedBodyIndex	_bodyId
	Simbody ID of the body to which this joint belongs.
Body *	_body
	Body to which this joint belongs.
Body *	_parentBody
	Body to which this body is attached.
Friends
class	SimbodyEngine
class	Model
class	JointSet

---

Detailed Description

A class implementing an OpenSim Joint.

Author:

Frank C. Anderson, Peter Loan, Ajay Seth

Version:

1.0

---

Constructor & Destructor Documentation

Joint::Joint

(

)

Default constructor.

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

API constructor.

Joint::Joint

(

const Joint &

aJoint

)

Copy constructor.

Parameters:

aJoint

Joint to be copied.

Joint::~Joint

(

)

[virtual]

Destructor.

---

Member Function Documentation

void Joint::checkParentBody

(

)

[virtual]

Verify that the parent specified by this joint is in the underlying Simbody model/system.

Verify that parent for this Joint is valid.

If the parent is not connected (does not have a valid MobilzedBodyIndex) then throw an exception. It is up to the assembly routine to make sure it is connecting in a valid sequence - not the joint.

void Joint::constructCoordinates

(

)

[protected]

Construct coordinates according to the mobilities of the Joint.

Reimplemented in OpenSim::CustomJoint.

virtual Object* OpenSim::Joint::copy

(

)

const [pure virtual]

Construct and return a copy of this object.

The object is allocated using the new operator, so the caller is responsible for deleting the returned object.

Returns:

Copy of this object.

Reimplemented from OpenSim::Object.

Implemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

void Joint::copyData

(

const Joint &

aJoint

)

Copy data members from one Joint to another.

Parameters:

aJoint

Joint to be copied.

Reimplemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

void Joint::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::ModelComponent.

Reimplemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

OpenSim::Body & Joint::getBody

(

)

const [virtual]

Get the body to which this joint belongs.

Returns:

Body to which this joint belongs.

virtual CoordinateSet& OpenSim::Joint::getCoordinateSet

(

)

const [inline, virtual]

void Joint::getLocation

(

SimTK::Vec3 &

rLocation

)

const [virtual]

Get the location of this joint in its child body.

Parameters:

rLocation

Current location expressed in the local body frame.

virtual void OpenSim::Joint::getLocationInChild

(

SimTK::Vec3 &

rLocation

)

const [inline, virtual]

virtual void OpenSim::Joint::getLocationInChild

(

double

rLocation[]

)

const [inline, virtual]

virtual void OpenSim::Joint::getLocationInParent

(

double

rLocation[]

)

const [inline, virtual]

void Joint::getLocationInParent

(

SimTK::Vec3 &

rLocation

)

const [virtual]

Get the location of this joint in its parent body.

Parameters:

rLocation

Currnt location expressed in the parent body frame.

SimTK::MobilizedBodyIndex OpenSim::Joint::getMobilizedBodyIndex

(

Body *

aBody

)

const [inline, protected]

SimTK::MultibodySystem & Joint::getMultibodySystem

(

)

const [protected]

void Joint::getOrientation

(

SimTK::Vec3 &

rOrientation

)

const [virtual]

Get the orientation of this joint in its body.

Parameters:

rOrientation

Current orientation of the joint expressed in the local body frame in body-fixed X-Y-Z Euler angles.

void Joint::getOrientationInParent

(

SimTK::Vec3 &

rOrientation

)

const [virtual]

Get the orientation of this joint in its parent body.

Parameters:

rOrientation

Current orientation expressed in the parent body frame in body-fixed X-Y-Z Euler angles.

OpenSim::Body & Joint::getParentBody

(

)

const [virtual]

Get the parent body to which this joint attaches.

Returns:

Parent body to which this joint attaches.

string Joint::getParentName

(

)

const

Get the name of the joint's parent body.

Returns:

Name of the parent body.

virtual bool OpenSim::Joint::getReverse

(

)

const [inline, virtual]

void Joint::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::ModelComponent.

Reimplemented in OpenSim::BallJoint, OpenSim::EllipsoidJoint, and OpenSim::FreeJoint.

bool Joint::isCoordinateUsed

(

Coordinate &

aCoordinate

)

const [virtual]

Check if a coordinate is used by the Joint.

Parameters:

aCoordinate

Coordinate to look for in joint.

Returns:

True if the coordinate is used.

virtual int OpenSim::Joint::numCoordinates

(

)

const [pure virtual]

Implemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

OpenSim::Joint::OPENSIM_DECLARE_DERIVED	(	Joint	,
		Object
	)

Joint & Joint::operator=

(

const Joint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

void Joint::scale

(

const ScaleSet &

aScaleSet

)

[virtual]

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

Generic behavior is to scale the locations on parent and on the body according to scale factors of the bodies upon which they are located.

Joint subclasses should invoke this method before scaling joint specific properties

Parameters:

aScaleSet

Set of XYZ scale factors for the bodies.

Reimplemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

void Joint::setBody

(

OpenSim::Body &

aBody

)

[virtual]

Set the body to which this joint belongs.

Parameters:

aBody

Body to which this joint should belong.

void OpenSim::Joint::setCoordinateMobilityIndex	(	Coordinate *	aCoord,
		int	index
	)			const [inline, protected]

void OpenSim::Joint::setCoordinateMobilizedBodyIndex	(	Coordinate *	aCoord,
		SimTK::MobilizedBodyIndex	index
	)			const [inline, protected]

void OpenSim::Joint::setCoordinateModel	(	Coordinate *	aCoord,
		Model *	aModel
	)			const [inline, protected]

void Joint::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::ModelComponent.

Reimplemented in OpenSim::BallJoint, OpenSim::EllipsoidJoint, and OpenSim::FreeJoint.

void Joint::setLocation

(

const SimTK::Vec3 &

aLocation

)

[virtual]

Set the location of this joint in its body.

Parameters:

aLocation

New location expressed in the local body frame.

virtual void OpenSim::Joint::setLocationInChild

(

const SimTK::Vec3 &

aLocation

)

[inline, virtual]

void Joint::setLocationInParent

(

const SimTK::Vec3 &

aLocation

)

[virtual]

Set the location of this joint in its parent body.

Parameters:

aLocation

New location expressed in the parent body frame.

void OpenSim::Joint::setMobilizedBodyIndex	(	Body *	aBody,
		SimTK::MobilizedBodyIndex	index
	)			const [inline, protected]

void Joint::setOrientation

(

const SimTK::Vec3 &

aOrientation

)

[virtual]

Set the orientation of this joint in its body.

Parameters:

aOrientation

New orientation expressed in the local body frame in body-fixed X-Y-Z Euler angles.

void Joint::setOrientationInParent

(

const SimTK::Vec3 &

aOrientation

)

[virtual]

Set the orientation of this joint in its parent body.

Parameters:

aOrientation

New orientation expressed in the parent body frame in body-fixed X-Y-Z Euler angles.

void Joint::setParentBody

(

OpenSim::Body &

aBody

)

[virtual]

Set the parent body to which this joint attaches.

Parameters:

aParentBody

Parent body to which this joint attaches.

void OpenSim::Joint::setParentName

(

const std::string &

aName

)

void Joint::setup

(

Model &

aModel

)

[virtual]

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

Parameters:

aModel

OpenSim model containing this Joint.

Reimplemented in OpenSim::BallJoint, OpenSim::CustomJoint, OpenSim::EllipsoidJoint, OpenSim::FreeJoint, OpenSim::PinJoint, OpenSim::SliderJoint, and OpenSim::WeldJoint.

void Joint::updateName

(

const std::string &

aName

)

---

Friends And Related Function Documentation

friend class JointSet [friend]

friend class Model [friend]

friend class SimbodyEngine [friend]

Reimplemented in OpenSim::CustomJoint.

---

Member Data Documentation

Body* OpenSim::Joint::_body [protected]

Body to which this joint belongs.

SimTK::MobilizedBodyIndex OpenSim::Joint::_bodyId [protected]

Simbody ID of the body to which this joint belongs.

CoordinateSet& OpenSim::Joint::_coordinateSet [protected]

PropertyObj OpenSim::Joint::_coordinateSetProp [protected]

Set holding the generalized coordinates (q's) that parmeterize this joint.

SimTK::Vec3& OpenSim::Joint::_location [protected]

SimTK::Vec3& OpenSim::Joint::_locationInParent [protected]

PropertyDblVec3 OpenSim::Joint::_locationInParentProp [protected]

Location of the joint in the parent body specified in the parent reference frame.

PropertyDblVec3 OpenSim::Joint::_locationProp [protected]

Location of the joint in the child body specified in the child reference frame.

For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint).

SimTK::Vec3& OpenSim::Joint::_orientation [protected]

SimTK::Vec3& OpenSim::Joint::_orientationInParent [protected]

PropertyDblVec3 OpenSim::Joint::_orientationInParentProp [protected]

Orientation of the joint in the parent body specified in the parent reference frame.

Euler XYZ body-fixed rotation angles are used to express the orientation.

PropertyDblVec3 OpenSim::Joint::_orientationProp [protected]

Orientation of the joint in the owing body specified in the owning body reference frame.

Euler XYZ body-fixed rotation angles are used to express the orientation.

Body* OpenSim::Joint::_parentBody [protected]

Body to which this body is attached.

std::string& OpenSim::Joint::_parentName [protected]

PropertyStr OpenSim::Joint::_parentNameProp [protected]

Name of the parent body to which this joint connects its owner body.

bool& OpenSim::Joint::_reverse [protected]

PropertyBool OpenSim::Joint::_reverseProp [protected]

Whether the joint transform defines parent->child or child->parent.

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

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