OpenSim::EllipsoidJoint Class Reference

A class implementing an Ellipsoid joint. More...

#include <EllipsoidJoint.h>

Inheritance diagram for OpenSim::EllipsoidJoint:

List of all members.

Public Member Functions
	EllipsoidJoint ()
	Default constructor.
	EllipsoidJoint (const std::string &name, OpenSim::Body &parent, SimTK::Vec3 locationInParent, SimTK::Vec3 orientationInParent, OpenSim::Body &body, SimTK::Vec3 locationInBody, SimTK::Vec3 orientationInBody, SimTK::Vec3 ellipsoidRadii, bool reverse=false)
	Convenience Constructor.
	EllipsoidJoint (const EllipsoidJoint &aJoint)
	Copy constructor.
virtual	~EllipsoidJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
EllipsoidJoint &	operator= (const EllipsoidJoint &aJoint)
	Assignment operator.
void	copyData (const EllipsoidJoint &aJoint)
	Copy data members from one EllipsoidJoint to another.
virtual int	numCoordinates () const
void	setEllipsoidRadii (SimTK::Vec3 radii)
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
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 &s) 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
PropertyDblVec3	_ellipsoidRadiiProp
	Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ).
SimTK::Vec3 &	_ellipsoidRadii

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Detailed Description

A class implementing an Ellipsoid joint.

The underlying implementation in Simbody is a MobilizedBody::Ellipsoid.

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

EllipsoidJoint::EllipsoidJoint

(

)

Default constructor.

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

Convenience Constructor.

EllipsoidJoint::EllipsoidJoint

(

const EllipsoidJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

EllipsoidJoint to be copied.

EllipsoidJoint::~EllipsoidJoint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * EllipsoidJoint::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 EllipsoidJoint::copyData

(

const EllipsoidJoint &

aJoint

)

Copy data members from one EllipsoidJoint to another.

Parameters:

aJoint

EllipsoidJoint to be copied.

Reimplemented from OpenSim::Joint.

void EllipsoidJoint::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.

void EllipsoidJoint::initState

(

SimTK::State &

state

)

const [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::Joint.

virtual int OpenSim::EllipsoidJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

EllipsoidJoint & EllipsoidJoint::operator=

(

const EllipsoidJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void EllipsoidJoint::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 EllipsoidJoint::setDefaultsFromState

(

const SimTK::State &

state

)

[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::Joint.

void OpenSim::EllipsoidJoint::setEllipsoidRadii

(

SimTK::Vec3

radii

)

void EllipsoidJoint::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 EllipsoidJoint.

Reimplemented from OpenSim::Joint.

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Member Data Documentation

SimTK::Vec3& OpenSim::EllipsoidJoint::_ellipsoidRadii [protected]

PropertyDblVec3 OpenSim::EllipsoidJoint::_ellipsoidRadiiProp [protected]

Ellipsoid radii mobilizer frame as a Vec3(rX, rY, rZ).

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

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