OpenSim::SpatialTransform Class Reference

A class encapsulating the spatial transformation bewteen two bodies that defines the behaviour of a custom joint. More...

#include <SpatialTransform.h>

Inheritance diagram for OpenSim::SpatialTransform:

List of all members.

Public Member Functions
	SpatialTransform ()
	Default constructor of a SpatialTransform.
	SpatialTransform (const SpatialTransform &aSpatialTransform)
	Copy constructor of a SpatialTransform.
	~SpatialTransform (void)
	Destructor.
virtual Object *	copy () const
	Copy this SpatialTransform and return a pointer to the copy.
void	copyData (const SpatialTransform &aSpatialTransform)
	Copy the contents of the one SpatialTransform (i.e.
void	setup (CustomJoint &aJoint)
virtual OpenSim::Array < std::string >	getCoordinateNames ()
virtual std::vector < std::vector< int > >	getCooridinateIndices ()
virtual std::vector< const SimTK::Function * >	getFunctions ()
virtual std::vector< SimTK::Vec3 >	getAxes ()
virtual void	scale (const SimTK::Vec3 scaleFactors)
TransformAxis &	operator[] (int aIndex) const
SpatialTransform &	operator= (const SpatialTransform &aSpatialTransform)
	Assignment operator.
Protected Attributes
PropertyObj	_rotation1Prop
	Define the individual transform axes (6) that specify the spatial transform.
TransformAxis &	_rotation1
PropertyObj	_rotation2Prop
TransformAxis &	_rotation2
PropertyObj	_rotation3Prop
TransformAxis &	_rotation3
PropertyObj	_translation1Prop
TransformAxis &	_translation1
PropertyObj	_translation2Prop
TransformAxis &	_translation2
PropertyObj	_translation3Prop
TransformAxis &	_translation3
CustomJoint *	_owningJoint
Friends
class	CustomJoint

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Detailed Description

A class encapsulating the spatial transformation bewteen two bodies that defines the behaviour of a custom joint.

Authors:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

SpatialTransform::SpatialTransform

(

)

Default constructor of a SpatialTransform.

SpatialTransform::SpatialTransform

(

const SpatialTransform &

aSpatialTransform

)

Copy constructor of a SpatialTransform.

SpatialTransform::~SpatialTransform

(

void

)

Destructor.

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Member Function Documentation

Object * SpatialTransform::copy

(

)

const [virtual]

Copy this SpatialTransform and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this OpenSim::SpatialTransform.

Reimplemented from OpenSim::Object.

void SpatialTransform::copyData

(

const SpatialTransform &

aSpatialTransform

)

Copy the contents of the one SpatialTransform (i.e.

the axes) to another.

Parameters:

aSpatialTransform

SpatialTransform to be copied.

std::vector< SimTK::Vec3 > SpatialTransform::getAxes

(

)

[virtual]

OpenSim::Array< string > SpatialTransform::getCoordinateNames

(

)

[virtual]

std::vector< std::vector< int > > SpatialTransform::getCooridinateIndices

(

)

[virtual]

std::vector< const SimTK::Function * > SpatialTransform::getFunctions

(

)

[virtual]

SpatialTransform & SpatialTransform::operator=

(

const SpatialTransform &

aSpatialTransform

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Object.

TransformAxis & SpatialTransform::operator[]

(

int

aIndex

)

const

void SpatialTransform::scale

(

const SimTK::Vec3

scaleFactors

)

[virtual]

void SpatialTransform::setup

(

CustomJoint &

aJoint

)

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Friends And Related Function Documentation

friend class CustomJoint [friend]

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Member Data Documentation

CustomJoint* OpenSim::SpatialTransform::_owningJoint [protected]

TransformAxis& OpenSim::SpatialTransform::_rotation1 [protected]

PropertyObj OpenSim::SpatialTransform::_rotation1Prop [protected]

Define the individual transform axes (6) that specify the spatial transform.

TransformAxis& OpenSim::SpatialTransform::_rotation2 [protected]

PropertyObj OpenSim::SpatialTransform::_rotation2Prop [protected]

TransformAxis& OpenSim::SpatialTransform::_rotation3 [protected]

PropertyObj OpenSim::SpatialTransform::_rotation3Prop [protected]

TransformAxis& OpenSim::SpatialTransform::_translation1 [protected]

PropertyObj OpenSim::SpatialTransform::_translation1Prop [protected]

TransformAxis& OpenSim::SpatialTransform::_translation2 [protected]

PropertyObj OpenSim::SpatialTransform::_translation2Prop [protected]

TransformAxis& OpenSim::SpatialTransform::_translation3 [protected]

PropertyObj OpenSim::SpatialTransform::_translation3Prop [protected]

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

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