OpenSim::FreeJoint Class Reference

A class implementing a Free joint. More...

#include <FreeJoint.h>

Inheritance diagram for OpenSim::FreeJoint:

List of all members.

Public Member Functions
	FreeJoint ()
	Flag to use Euler angles to parameterize rotation of the body.
	FreeJoint (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.
	FreeJoint (const FreeJoint &aJoint)
	Copy constructor.
virtual	~FreeJoint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
FreeJoint &	operator= (const FreeJoint &aJoint)
	Assignment operator.
void	copyData (const FreeJoint &aJoint)
	Copy data members from one FreeJoint to another.
virtual void	setup (Model &aModel)
	Perform some set up functions that happen after the object has been deserialized or copied.
virtual int	numCoordinates () const
virtual void	scale (const ScaleSet &aScaleSet)
	Scale a joint based on XYZ scale factors for the bodies.
	OPENSIM_DECLARE_DERIVED (FreeJoint, Joint)
Protected Member Functions
void	createSystem (SimTK::MultibodySystem &system) const
	This is called when a SimTK System is being created for the Model.
void	initState (SimTK::State &s) const
	This is called after a SimTK System and State have been created for the Model.
void	setDefaultsFromState (const SimTK::State &state)
	Set all default values for this object to match those in a specified State.

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Detailed Description

A class implementing a Free joint.

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

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

FreeJoint::FreeJoint

(

)

Flag to use Euler angles to parameterize rotation of the body.

Default constructor.

FreeJoint::FreeJoint	(	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.

FreeJoint::FreeJoint

(

const FreeJoint &

aJoint

)

Copy constructor.

Parameters:

aJoint

FreeJoint to be copied.

FreeJoint::~FreeJoint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * FreeJoint::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 FreeJoint::copyData

(

const FreeJoint &

aJoint

)

Copy data members from one FreeJoint to another.

Parameters:

aJoint

FreeJoint to be copied.

Reimplemented from OpenSim::Joint.

void FreeJoint::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 FreeJoint::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::FreeJoint::numCoordinates

(

)

const [inline, virtual]

Implements OpenSim::Joint.

OpenSim::FreeJoint::OPENSIM_DECLARE_DERIVED	(	FreeJoint	,
		Joint
	)

FreeJoint & FreeJoint::operator=

(

const FreeJoint &

aJoint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Joint.

void FreeJoint::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 FreeJoint::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 FreeJoint::setup

(

Model &

aModel

)

[virtual]

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

Parameters:

aEngine

dynamics engine containing this FreeJoint.

Reimplemented from OpenSim::Joint.

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

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