OpenSim::BushingForce Class Reference

A class implementing a Bushing Force. More...

#include <BushingForce.h>

Inheritance diagram for OpenSim::BushingForce:

Public Member Functions
	BushingForce ()
	Default constructor.
	BushingForce (std::string body1Name, SimTK::Vec3 point1, SimTK::Vec3 orientation1, std::string body2Name, SimTK::Vec3 point2, SimTK::Vec3 orientation2, SimTK::Vec3 transStiffness, SimTK::Vec3 rotStiffness, SimTK::Vec3 transDamping, SimTK::Vec3 rotDamping)
	BushingForce (const BushingForce &aForce)
	Copy constructor.
virtual	~BushingForce ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
BushingForce &	operator= (const BushingForce &aForce)
	Assignment operator.
void	copyData (const BushingForce &aForce)
	Copy data members from one BushingForce to another.
void	setBody1ByName (std::string aBodyName)
	Following methods set attributes of the weld Force.
void	setBody1BushingLocation (SimTK::Vec3 location, SimTK::Vec3 orientation=SimTK::Vec3(0))
void	setBody2ByName (std::string aBodyName)
void	setBody2BushingLocation (SimTK::Vec3 location, SimTK::Vec3 orientation=SimTK::Vec3(0))
virtual double	computePotentialEnergy (const SimTK::State &s) const
	Potential energy is determine by the elastic energy storage of the bushing.
virtual OpenSim::Array < std::string >	getRecordLabels () const
	Provide name(s) of the quantities (column labels) of the force value(s) to be reported.
virtual OpenSim::Array< double >	getRecordValues (const SimTK::State &state) const
	Provide the value(s) to be reported that correspond to the labels.
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
	Create a SimTK::Force::LinarBushing which implements this BushingForce.
Protected Attributes
PropertyStr	_body1NameProp
	Specify first of two bodies held together by the bushing.
std::string &	_body1Name
PropertyStr	_body2NameProp
	Specify second of two bodies held by the bushing force.
std::string &	_body2Name
PropertyDblVec3	_locationInBody1Prop
	Location of the bushing in first body specified in body1 reference frame.
SimTK::Vec3 &	_locationInBody1
PropertyDblVec3	_orientationInBody1Prop
	Orientation of the bushing axes on body1 specified in body1's reference frame.
SimTK::Vec3 &	_orientationInBody1
PropertyDblVec3	_locationInBody2Prop
	Location of the bushing in second body specified in body2 reference frame.
SimTK::Vec3 &	_locationInBody2
PropertyDblVec3	_orientationInBody2Prop
	Orientation of the bushing axes on body2 specified in body2's reference frame.
SimTK::Vec3 &	_orientationInBody2
PropertyDblVec3	_rotStiffnessProp
	Stiffness of the bushing related to Euler XYZ body-fixed rotation angles used to express the orientation.
SimTK::Vec3 &	_rotStiffness
PropertyDblVec3	_transStiffnessProp
	Stiffness of the bushing related to XYZ translations between frames.
SimTK::Vec3 &	_transStiffness
PropertyDblVec3	_rotDampingProp
	Damping of the bushing related to Euler XYZ body-fixed angular speeds.
SimTK::Vec3 &	_rotDamping
PropertyDblVec3	_transDampingProp
	Damping of the bushing related to XYZ translation speeds between frames.
SimTK::Vec3 &	_transDamping

Detailed Description

A class implementing a Bushing Force.

A Bushing Force is the force proportional to the deviation of two frames. One can think of the Bushing as being composed of 3 linear and 3 torsional spring-dampers, which act along or about the bushing frames. The underlying Force in Simbody is a SimtK::Force::LinearBushing

Author:: Ajay Seth

Version:: 1.0

Constructor & Destructor Documentation

BushingForce::BushingForce ( )

Default constructor.

BushingForce::BushingForce	(	std::string	body1Name,
		SimTK::Vec3	point1,
		SimTK::Vec3	orientation1,
		std::string	body2Name,
		SimTK::Vec3	point2,
		SimTK::Vec3	orientation2,
		SimTK::Vec3	transStiffness,
		SimTK::Vec3	rotStiffness,
		SimTK::Vec3	transDamping,
		SimTK::Vec3	rotDamping
	)

BushingForce::BushingForce ( const BushingForce & aForce )

Copy constructor.

Parameters:

aForce

BushingForce to be copied.

BushingForce::~BushingForce ( ) [virtual]

Destructor.

Member Function Documentation

double BushingForce::computePotentialEnergy ( const SimTK::State & s ) const [virtual]

Potential energy is determine by the elastic energy storage of the bushing.

Reimplemented from OpenSim::Force.

Object * BushingForce::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::Force.

void BushingForce::copyData ( const BushingForce & aForce )

Copy data members from one BushingForce to another.

Parameters:

aForce

BushingForce to be copied.

Reimplemented from OpenSim::Force.

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

Create a SimTK::Force::LinarBushing which implements this BushingForce.

Reimplemented from OpenSim::Force.

OpenSim::Array< std::string > BushingForce::getRecordLabels ( ) const [virtual]

Provide name(s) of the quantities (column labels) of the force value(s) to be reported.

Provide names of the quantities (column labels) of the force value(s) reported.

Reimplemented from OpenSim::Force.

OpenSim::Array< double > BushingForce::getRecordValues ( const SimTK::State & state ) const [virtual]

Provide the value(s) to be reported that correspond to the labels.

Reimplemented from OpenSim::Force.

BushingForce & BushingForce::operator= ( const BushingForce & aForce )

Assignment operator.

Returns:: Reference to this object.

Reimplemented from OpenSim::Force.

void OpenSim::BushingForce::setBody1BushingLocation	(	SimTK::Vec3	location,
		SimTK::Vec3	orientation = `SimTK::Vec3(0)`
	)

void BushingForce::setBody1ByName ( std::string aBodyName )

Following methods set attributes of the weld Force.

void OpenSim::BushingForce::setBody2BushingLocation	(	SimTK::Vec3	location,
		SimTK::Vec3	orientation = `SimTK::Vec3(0)`
	)

void BushingForce::setBody2ByName ( std::string aBodyName )

void BushingForce::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 BushingForce.

Reimplemented from OpenSim::Force.

Member Data Documentation

std::string& OpenSim::BushingForce::_body1Name [protected]

PropertyStr OpenSim::BushingForce::_body1NameProp [protected]

Specify first of two bodies held together by the bushing.

std::string& OpenSim::BushingForce::_body2Name [protected]

PropertyStr OpenSim::BushingForce::_body2NameProp [protected]

Specify second of two bodies held by the bushing force.

SimTK::Vec3& OpenSim::BushingForce::_locationInBody1 [protected]

PropertyDblVec3 OpenSim::BushingForce::_locationInBody1Prop [protected]

Location of the bushing in first body specified in body1 reference frame.

SimTK::Vec3& OpenSim::BushingForce::_locationInBody2 [protected]

PropertyDblVec3 OpenSim::BushingForce::_locationInBody2Prop [protected]

Location of the bushing in second body specified in body2 reference frame.

SimTK::Vec3& OpenSim::BushingForce::_orientationInBody1 [protected]

PropertyDblVec3 OpenSim::BushingForce::_orientationInBody1Prop [protected]

Orientation of the bushing axes on body1 specified in body1's reference frame.

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

SimTK::Vec3& OpenSim::BushingForce::_orientationInBody2 [protected]

PropertyDblVec3 OpenSim::BushingForce::_orientationInBody2Prop [protected]

Orientation of the bushing axes on body2 specified in body2's reference frame.

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

SimTK::Vec3& OpenSim::BushingForce::_rotDamping [protected]

PropertyDblVec3 OpenSim::BushingForce::_rotDampingProp [protected]

Damping of the bushing related to Euler XYZ body-fixed angular speeds.

SimTK::Vec3& OpenSim::BushingForce::_rotStiffness [protected]

PropertyDblVec3 OpenSim::BushingForce::_rotStiffnessProp [protected]

Stiffness of the bushing related to Euler XYZ body-fixed rotation angles used to express the orientation.

SimTK::Vec3& OpenSim::BushingForce::_transDamping [protected]

PropertyDblVec3 OpenSim::BushingForce::_transDampingProp [protected]

Damping of the bushing related to XYZ translation speeds between frames.

SimTK::Vec3& OpenSim::BushingForce::_transStiffness [protected]

PropertyDblVec3 OpenSim::BushingForce::_transStiffnessProp [protected]

Stiffness of the bushing related to XYZ translations between frames.

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

OpenSim/Simulation/Model/BushingForce.h
OpenSim/Simulation/Model/BushingForce.cpp

OpenSim::BushingForce Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation