OpenSim::TransformAxis Class Reference

A class expressing a tranformation of a child body in relation to a parent body along either a translation or rotation axis. More...

#include <TransformAxis.h>

Inheritance diagram for OpenSim::TransformAxis:

List of all members.

Public Member Functions
	TransformAxis ()
	Default constructor.
	TransformAxis (const Array< std::string > &coordNames, const SimTK::Vec3 &aAxis)
	TransformAxis (DOMElement *aNode)
	Constructor from XML node.
	TransformAxis (const TransformAxis &anAxis)
	Copy constructor.
virtual	~TransformAxis ()
	Destructor.
virtual Object *	copy () const
	Copy this dof and return a pointer to the copy.
TransformAxis &	operator= (const TransformAxis &anAxis)
	Assignment operator.
void	copyData (const TransformAxis &anAxis)
	Copy data members from one TransformAxis to another.
virtual void	setCoordinateNames (const Array< std::string > &coordNames)
virtual const Array< std::string >	getCoordinateNames () const
virtual bool	hasFunction () const
	Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.
virtual Function &	getFunction () const
	Get the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.
virtual void	setFunction (Function *aFunction)
	Set the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.
virtual void	setFunction (const Function &aFunction)
	Set the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.
Joint &	getJoint ()
virtual double	getValue (const SimTK::State &s)
	Get the current value of the transform.
virtual void	setAxis (const SimTK::Vec3 &aAxis)
	Set the transformation axis.
virtual void	getAxis (SimTK::Vec3 &rAxis) const
	Get the transformation axis.
virtual void	getAxis (double rAxis[]) const
const SimTK::Vec3 &	getAxis () const
virtual void	setup (Joint &aJoint)
	Perform set up functions after model has been deserialized or copied.
virtual void	updateFromXMLNode ()
	Update this object based on its XML node.
	OPENSIM_DECLARE_DERIVED (TransformAxis, Object)
Protected Attributes
PropertyDblVec3	_axisProp
	Rotation or translation axis for the transform.
SimTK::Vec3 &	_axis
PropertyObjPtr< Function >	_functionProp
	Transform function of the generalized coordinate used to represent the amount of transformation along a specified axis.
Function *&	_function
PropertyStrArray	_coordinateNamesProp
	Names of the coordinate that serves as the indepenent variables of the tranform function.
Array< std::string > &	_coordinateNames
Joint *	_joint
Friends
class	SimbodyEngine

---

Detailed Description

A class expressing a tranformation of a child body in relation to a parent body along either a translation or rotation axis.

Author:

Peter Loan, Frank C. Anderson, Jeffrey A. Reinbolt, Ajay Seth

Version:

1.0

---

Constructor & Destructor Documentation

TransformAxis::TransformAxis

(

)

Default constructor.

OpenSim::TransformAxis::TransformAxis	(	const Array< std::string > &	coordNames,
		const SimTK::Vec3 &	aAxis
	)

TransformAxis::TransformAxis

(

DOMElement *

aNode

)

Constructor from XML node.

TransformAxis::TransformAxis

(

const TransformAxis &

anAxis

)

Copy constructor.

Parameters:

anAxis

TransformAxis to be copied.

TransformAxis::~TransformAxis

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * TransformAxis::copy

(

)

const [virtual]

Copy this dof and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this TransformAxis.

Reimplemented from OpenSim::Object.

void TransformAxis::copyData

(

const TransformAxis &

anAxis

)

Copy data members from one TransformAxis to another.

Parameters:

anAxis

TransformAxis to be copied.

const SimTK::Vec3& OpenSim::TransformAxis::getAxis

(

)

const [inline]

virtual void OpenSim::TransformAxis::getAxis

(

double

rAxis[]

)

const [inline, virtual]

void TransformAxis::getAxis

(

SimTK::Vec3 &

rAxis

)

const [virtual]

Get the transformation axis.

Parameters:

rAxis

Transformation axis is returned here.

virtual const Array<std::string> OpenSim::TransformAxis::getCoordinateNames

(

)

const [inline, virtual]

OpenSim::Function & TransformAxis::getFunction

(

)

const [virtual]

Get the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.

Utility to return the function that this dof uses.

If no function has been specified, this throws an exception.

Returns:

Function used by this dof.

Joint& OpenSim::TransformAxis::getJoint

(

)

[inline]

double TransformAxis::getValue

(

const SimTK::State &

s

)

[virtual]

Get the current value of the transform.

Returns:

Current value of the transform.

bool TransformAxis::hasFunction

(

)

const [virtual]

Determine whether a custom function has been specified to map between the generalized coordinate and the amount of transformation along the specified axis.

OpenSim::TransformAxis::OPENSIM_DECLARE_DERIVED	(	TransformAxis	,
		Object
	)

TransformAxis & TransformAxis::operator=

(

const TransformAxis &

anAxis

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Object.

void TransformAxis::setAxis

(

const SimTK::Vec3 &

aAxis

)

[virtual]

Set the transformation axis.

Parameters:

aAxis

Transformation axis.

virtual void OpenSim::TransformAxis::setCoordinateNames

(

const Array< std::string > &

coordNames

)

[virtual]

void TransformAxis::setFunction

(

const Function &

aFunction

)

[virtual]

Set the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.

This method creates a copy of the original Function object, which is unaffected.

void TransformAxis::setFunction

(

OpenSim::Function *

aFunction

)

[virtual]

Set the custom function that maps between the generalized coordinate and the amount of transformation along the specified axis.

Utility to change the function that this dof uses.

This object adopts ownership of the Function object, and deletes it when this object is itself deleted.

Parameters:

aFunction

the function to change to.

void TransformAxis::setup

(

Joint &

aJoint

)

[virtual]

Perform set up functions after model has been deserialized or copied.

Parameters:

	aEngine	dynamics engine containing this dof.
	aJoint	joint containing this dof.

void TransformAxis::updateFromXMLNode

(

)

[virtual]

Update this object based on its XML node.

Added parameter sourceNode to handle external documents For non-inlined objects the root of the childDocument is passed in else NULL.

Reimplemented from OpenSim::Object.

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Friends And Related Function Documentation

friend class SimbodyEngine [friend]

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Member Data Documentation

SimTK::Vec3& OpenSim::TransformAxis::_axis [protected]

PropertyDblVec3 OpenSim::TransformAxis::_axisProp [protected]

Rotation or translation axis for the transform.

Array<std::string>& OpenSim::TransformAxis::_coordinateNames [protected]

PropertyStrArray OpenSim::TransformAxis::_coordinateNamesProp [protected]

Names of the coordinate that serves as the indepenent variables of the tranform function.

Function*& OpenSim::TransformAxis::_function [protected]

PropertyObjPtr<Function> OpenSim::TransformAxis::_functionProp [protected]

Transform function of the generalized coordinate used to represent the amount of transformation along a specified axis.

Joint* OpenSim::TransformAxis::_joint [protected]

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

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