OpenSim::PinJoint Class Reference

A class implementing an Pin joint. More...

#include <PinJoint.h>

Inheritance diagram for OpenSim::PinJoint:

List of all members.

Public Member Functions
	PinJoint ()
	Pin has no additional properties.
	PinJoint (const PinJoint &aJoint)
	Copy constructor.
	PinJoint (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.
virtual	~PinJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
PinJoint &	operator= (const PinJoint &aJoint)
	Assignment operator.
void	copyData (const PinJoint &aJoint)
	Copy data members from one PinJoint 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.
Protected Member Functions
void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.

---

Detailed Description

A class implementing an Pin joint.

The underlying implementation in Simbody is a MobilizedBody::Pin. Pin provides one DoF about the common z-axis of the joint frames (not body) in the parent and body.

Author:

Ajay Seth

Version:

1.0

---

Constructor & Destructor Documentation

PinJoint::PinJoint

(

)

Pin has no additional properties.

Default constructor.

PinJoint::PinJoint

(

const PinJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

PinJoint to be copied.

PinJoint::PinJoint	(	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.

PinJoint::~PinJoint

(

)

[virtual]

Destructor.

---

Member Function Documentation

Object * PinJoint::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 PinJoint::copyData

(

const PinJoint &

aJoint

)

Copy data members from one PinJoint to another.

Parameters:

aJoint

PinJoint to be copied.

Reimplemented from OpenSim::Joint.

void PinJoint::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 int OpenSim::PinJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

PinJoint & PinJoint::operator=

(

const PinJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void PinJoint::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 PinJoint::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 PinJoint.

Reimplemented from OpenSim::Joint.

---

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

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