OpenSim::CustomJoint Class Reference

A class implementing a custom joint. More...

#include <CustomJoint.h>

Inheritance diagram for OpenSim::CustomJoint:

List of all members.

Public Member Functions
	CustomJoint ()
	Default constructor.
	CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SpatialTransform &aSpatialTransform, bool reverse=false)
	Constructor.
	CustomJoint (const std::string &name, Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, bool reverse=false)
	Convenience Constructor.
	CustomJoint (const CustomJoint &aJoint)
	Copy constructor.
virtual	~CustomJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
CustomJoint &	operator= (const CustomJoint &aJoint)
	Assignment operator.
void	copyData (const CustomJoint &aJoint)
	Copy data members from one CustomJoint to another.
virtual int	numCoordinates () const
virtual SpatialTransform &	getSpatialTransform () const
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
virtual void	updateFromXMLNode ()
	Override of the default implementation to account for versioning.
	OPENSIM_DECLARE_DERIVED (CustomJoint, Joint)
Protected Member Functions
void	constructCoordinates ()
	Construct coordinates according to the mobilities of the Joint.
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.
Protected Attributes
PropertyObj	_spatialTransformProp
	Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates.
SpatialTransform &	_spatialTransform

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Detailed Description

A class implementing a custom joint.

The underlying joint in Simbody is a custom mobilizer.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

CustomJoint::CustomJoint

(

)

Default constructor.

CustomJoint::CustomJoint	(	const std::string &	name,
		OpenSim::Body &	parent,
		SimTK::Vec3	locationInParent,
		SimTK::Vec3	orientationInParent,
		OpenSim::Body &	body,
		SimTK::Vec3	locationInBody,
		SimTK::Vec3	orientationInBody,
		SpatialTransform &	aSpatialTransform,
		bool	reverse = false
	)

Constructor.

CustomJoint::CustomJoint	(	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.

CustomJoint::CustomJoint

(

const CustomJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

CustomJoint to be copied.

CustomJoint::~CustomJoint

(

)

[virtual]

Destructor.

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Member Function Documentation

void CustomJoint::constructCoordinates

(

)

[protected]

Construct coordinates according to the mobilities of the Joint.

Reimplemented from OpenSim::Joint.

Object * CustomJoint::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 CustomJoint::copyData

(

const CustomJoint &

aJoint

)

Copy data members from one CustomJoint to another.

Parameters:

aJoint

CustomJoint to be copied.

Reimplemented from OpenSim::Joint.

void CustomJoint::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::Joint.

virtual SpatialTransform& OpenSim::CustomJoint::getSpatialTransform

(

)

const [inline, virtual]

virtual int OpenSim::CustomJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

OpenSim::CustomJoint::OPENSIM_DECLARE_DERIVED	(	CustomJoint	,
		Joint
	)

CustomJoint & CustomJoint::operator=

(

const CustomJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void CustomJoint::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 CustomJoint::setup

(

Model &

aModel

)

[protected, virtual]

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

Parameters:

aEngine

dynamics engine containing this CustomJoint.

Reimplemented from OpenSim::Joint.

void CustomJoint::updateFromXMLNode

(

)

[virtual]

Override of the default implementation to account for versioning.

Reimplemented from OpenSim::Object.

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Member Data Documentation

SpatialTransform& OpenSim::CustomJoint::_spatialTransform [protected]

PropertyObj OpenSim::CustomJoint::_spatialTransformProp [protected]

Spatial transform defining how the child body moves with respect to the parent body as a function of the generalized coordinates.

Motion over 6 (independent) spatial axes must be defined.

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

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