OpenSim::Body Class Reference

A class implementing a Simbody rigid body. More...

#include <Body.h>

Inheritance diagram for OpenSim::Body:

Public Member Functions
virtual	~Body ()
	Destructor.
	Body ()
	Default constructor.
	Body (const std::string &aName, double aMass, const SimTK::Vec3 &aMassCenter, const SimTK::Inertia &aInertia)
	Constructor.
	Body (const Body &aBody)
	Copy constructor.
virtual Object *	copy () const
	Copy constructor from an AbstractBody.
Body &	operator= (const Body &aBody)
	Assignment operator.
void	copyData (const Body &aBody)
	Copy data members from one Body to another.
virtual void	addDisplayGeometry (const std::string &aGeometryFileName)
	Add display geometry to body.
virtual double	getMass () const
	Get the mass of the body.
virtual bool	setMass (double aMass)
	Set the mass of the body.
virtual void	getMassCenter (SimTK::Vec3 &rVec) const
	Get the mass center of the body.
virtual bool	setMassCenter (const SimTK::Vec3 &aVec)
	Set the mass center of the body.
virtual void	getInertia (SimTK::Mat33 &rInertia) const
	Get the inertia matrix of the body.
virtual bool	setInertia (const SimTK::Inertia &aInertia)
	Set the inertia matrix of the body.
virtual bool	hasJoint () const
virtual Joint &	getJoint () const
virtual void	setJoint (Joint &aJoint)
	Set the joint for this body.
virtual void	scale (const SimTK::Vec3 &aScaleFactors, bool aScaleMass=false)
	Scale the body.
virtual void	scaleInertialProperties (const SimTK::Vec3 &aScaleFactors, bool aScaleMass=true)
	Scale the body's mass and inertia tensor.
virtual void	scaleMass (double aScaleFactor)
	Scale the body's mass and inertia tensor (represents a scaling of the body's density).
virtual const VisibleObject *	getDisplayer () const
virtual VisibleObject *	updDisplayer ()
virtual const SimTK::MobilizedBodyIndex	getIndex () const
void	getScaleFactors (SimTK::Vec3 &aScaleFactors) const
WrapObject *	getWrapObject (const std::string &aName) const
const WrapObjectSet &	getWrapObjectSet () const
	OPENSIM_DECLARE_DERIVED (Body, Object)
SimTK::MassProperties	getMassProperties ()
	Assemble body interial properties: mass, center of mass location, moment of inertia about the origin of the body and return as a SimTK::MassProperties.
virtual int	getNumStateVariables () const
	Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.
Protected Member Functions
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
virtual void	initState (SimTK::State &state) const
	This is called after a SimTK System and State have been created for the Model.
virtual void	setDefaultsFromState (const SimTK::State &state)
	Set all default values for this object to match those in a specified State.
Protected Attributes
PropertyDbl	_massProp
	Mass of the body.
double &	_mass
PropertyDblVec3	_massCenterProp
	Mass center of body.
SimTK::Vec3 &	_massCenter
PropertyDbl	_inertiaXXProp
	Moment of inertia Ixx computed with respect to the body's center of mass.
double &	_inertiaXX
PropertyDbl	_inertiaYYProp
	Moment of inertia Iyy computed with respect to the body's center of mass.
double &	_inertiaYY
PropertyDbl	_inertiaZZProp
	Moment of inertia Izz computed with respect to the body's center of mass.
double &	_inertiaZZ
PropertyDbl	_inertiaXYProp
	Product of inertia Ixy computed with respect to the body's center of mass.
double &	_inertiaXY
PropertyDbl	_inertiaXZProp
	Product of inertia Ixz computed with respect to the body's center of mass.
double &	_inertiaXZ
PropertyDbl	_inertiaYZProp
	Product of inertia Iyz computed with respect to the body's center of mass.
double &	_inertiaYZ
PropertyObjPtr< Joint >	_jointProp
	Joint connecting this body with the parent body.
Joint *&	_joint
PropertyObj	_displayerProp
	For display of the body.
VisibleObject &	_displayer
PropertyObj	_wrapObjectSetProp
	Set containing the wrap objects attached to this body.
WrapObjectSet &	_wrapObjectSet
SimTK::MobilizedBodyIndex	_index
	ID for the body in Simbody.
Friends
class	Joint

Detailed Description

A class implementing a Simbody rigid body.

Author:: Frank C. Anderson, Ajay Seth

Version:: 1.0

Constructor & Destructor Documentation

Body::~Body ( ) [virtual]

Destructor.

Body::Body ( )

Default constructor.

Body::Body	(	const std::string &	aName,
		double	aMass,
		const SimTK::Vec3 &	aMassCenter,
		const SimTK::Inertia &	aInertia
	)

Constructor.

Body::Body ( const Body & aBody )

Copy constructor.

Parameters:

aBody

Body to be copied.

Member Function Documentation

void Body::addDisplayGeometry ( const std::string & aGeometryFileName ) [virtual]

Add display geometry to body.

Parameters:

aGeometryFileName

Geometry filename.

Object * Body::copy ( ) const [virtual]

Copy constructor from an AbstractBody.

Parameters:

aBody

Body to be copied.

Body::Body(const AbstractBody &aBody) : AbstractBody(aBody), _mass(_massProp.getValueDbl()), _massCenter(_massCenterProp.getValueDblVec()), _inertiaXX(_inertiaXXProp.getValueDbl()), _inertiaYY(_inertiaYYProp.getValueDbl()), _inertiaZZ(_inertiaZZProp.getValueDbl()), _inertiaXY(_inertiaXYProp.getValueDbl()), _inertiaXZ(_inertiaXZProp.getValueDbl()), _inertiaYZ(_inertiaYZProp.getValueDbl()), _joint(_jointProp.getValueObjPtrRef()), _displayerProp(PropertyObj("", VisibleObject())), _displayer((VisibleObject&)_displayerProp.getValueObj()) { setNull(); setupProperties(); copyData(aBody); } 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 Body.

Reimplemented from OpenSim::Object.

void Body::copyData ( const Body & aBody )

Copy data members from one Body to another.

Parameters:

aBody

Body to be copied.

void Body::createSystem ( SimTK::MultibodySystem & system ) const [protected, virtual]

This is called when a SimTK System is being created for the Model.

It must be implemented to add appropriate elements to the System corresponding to this object. Methods for adding modeling options, state variables and their derivatives, discrete variables, as well must be called with createSystem() only.

Parameters:

system

the System being created

Reimplemented from OpenSim::ModelComponent.

virtual const VisibleObject* OpenSim::Body::getDisplayer ( ) const [inline, virtual]

Reimplemented from OpenSim::Object.

virtual const SimTK::MobilizedBodyIndex OpenSim::Body::getIndex ( ) const [inline, virtual]

void Body::getInertia ( SimTK::Mat33 & rInertia ) const [virtual]

Get the inertia matrix of the body.

Parameters:

3x3

inertia matrix.

Joint & Body::getJoint ( ) const [virtual]

double Body::getMass ( ) const [virtual]

Get the mass of the body.

Returns:: Mass of body from Simbody code.

void Body::getMassCenter ( SimTK::Vec3 & rVec ) const [virtual]

Get the mass center of the body.

Parameters:

rVec

XYZ coordinates of mass center are returned here.

SimTK::MassProperties Body::getMassProperties ( )

Assemble body interial properties: mass, center of mass location, moment of inertia about the origin of the body and return as a SimTK::MassProperties.

virtual int OpenSim::Body::getNumStateVariables ( ) const [inline, virtual]

Gets the number of "Continuous" state variables maintained by the ModelComponent If the ModelComponent defines any that are of interest to the user, names should also be given.

Implements OpenSim::ModelComponent.

void Body::getScaleFactors ( SimTK::Vec3 & aScaleFactors ) const

WrapObject* OpenSim::Body::getWrapObject ( const std::string & aName ) const

const WrapObjectSet& OpenSim::Body::getWrapObjectSet ( ) const [inline]

virtual bool OpenSim::Body::hasJoint ( ) const [inline, virtual]

virtual void OpenSim::Body::initState ( SimTK::State & state ) const [inline, protected, virtual]

This is called after a SimTK System and State have been created for the Model.

It must be implementd to set initial values of state variables.

Parameters:

state

the State to initialize

Reimplemented from OpenSim::ModelComponent.

OpenSim::Body::OPENSIM_DECLARE_DERIVED	(	Body	,
		Object
	)

Body & Body::operator= ( const Body & aBody )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::ModelComponent.

void Body::scale	(	const SimTK::Vec3 &	aScaleFactors,
		bool	aScaleMass = `false`
	)			`[virtual]`

Scale the body.

Parameters:

	aScaleFactors	XYZ scale factors.
	aScaleMass	whether or not to scale mass properties

void Body::scaleInertialProperties	(	const SimTK::Vec3 &	aScaleFactors,
		bool	aScaleMass = `true`
	)			`[virtual]`

Scale the body's mass and inertia tensor.

Parameters:

	aScaleFactors	XYZ scale factors.
	aScaleMass	Whether or not to scale the mass

void Body::scaleMass ( double aScaleFactor ) [virtual]

Scale the body's mass and inertia tensor (represents a scaling of the body's density).

Parameters:

aScaleFactors

XYZ scale factors.

virtual void OpenSim::Body::setDefaultsFromState ( const SimTK::State & state ) [inline, protected, virtual]

Set all default values for this object to match those in a specified State.

It must be implemented/overriden 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.

bool Body::setInertia ( const SimTK::Inertia & aInertia ) [virtual]

Set the inertia matrix of the body.

Parameters:

aInertia

9-element inertia matrix.

Returns:: Whether inertia matrix was successfully changed.

void Body::setJoint ( Joint & aJoint ) [virtual]

Set the joint for this body.

Parameters:

aJoint

Joint connecting this body to the parent body.

bool Body::setMass ( double aMass ) [virtual]

Set the mass of the body.

Parameters:

aMass

mass of body.

Returns:: Whether mass was successfully changed.

bool Body::setMassCenter ( const SimTK::Vec3 & aVec ) [virtual]

Set the mass center of the body.

Parameters:

aVec

XYZ coordinates of mass center.

Returns:: Whether mass center was successfully changed.

void Body::setup ( Model & aModel ) [protected, virtual]

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

Parameters:

aModel

OpenSim model containing this Body.

Reimplemented from OpenSim::ModelComponent.

virtual VisibleObject* OpenSim::Body::updDisplayer ( ) [inline, virtual]

Reimplemented from OpenSim::Object.

Friends And Related Function Documentation

friend class Joint [friend]

Member Data Documentation

VisibleObject& OpenSim::Body::_displayer [protected]

PropertyObj OpenSim::Body::_displayerProp [protected]

For display of the body.

SimTK::MobilizedBodyIndex OpenSim::Body::_index [protected]

ID for the body in Simbody.

double& OpenSim::Body::_inertiaXX [protected]

PropertyDbl OpenSim::Body::_inertiaXXProp [protected]

Moment of inertia Ixx computed with respect to the body's center of mass.

double& OpenSim::Body::_inertiaXY [protected]

PropertyDbl OpenSim::Body::_inertiaXYProp [protected]

Product of inertia Ixy computed with respect to the body's center of mass.

double& OpenSim::Body::_inertiaXZ [protected]

PropertyDbl OpenSim::Body::_inertiaXZProp [protected]

Product of inertia Ixz computed with respect to the body's center of mass.

double& OpenSim::Body::_inertiaYY [protected]

PropertyDbl OpenSim::Body::_inertiaYYProp [protected]

Moment of inertia Iyy computed with respect to the body's center of mass.

double& OpenSim::Body::_inertiaYZ [protected]

PropertyDbl OpenSim::Body::_inertiaYZProp [protected]

Product of inertia Iyz computed with respect to the body's center of mass.

double& OpenSim::Body::_inertiaZZ [protected]

PropertyDbl OpenSim::Body::_inertiaZZProp [protected]

Moment of inertia Izz computed with respect to the body's center of mass.

Joint* & OpenSim::Body::_joint [protected]

PropertyObjPtr<Joint> OpenSim::Body::_jointProp [protected]

Joint connecting this body with the parent body.

double& OpenSim::Body::_mass [protected]

SimTK::Vec3& OpenSim::Body::_massCenter [protected]

PropertyDblVec3 OpenSim::Body::_massCenterProp [protected]

Mass center of body.

PropertyDbl OpenSim::Body::_massProp [protected]

Mass of the body.

WrapObjectSet& OpenSim::Body::_wrapObjectSet [protected]

PropertyObj OpenSim::Body::_wrapObjectSetProp [protected]

Set containing the wrap objects attached to this body.

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

OpenSim/Simulation/SimbodyEngine/Body.h
OpenSim/Simulation/SimbodyEngine/Body.cpp

OpenSim::Body Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation