OpenSim::PinJoint Class Reference
A class implementing an Pin joint. More...
#include <PinJoint.h>
Public Member Functions | |
| PinJoint () | |
| Pin has no additional properties. | |
| PinJoint (const PinJoint &aJoint) | |
| Copy constructor. | |
| PinJoint (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. | |
| virtual | ~PinJoint () |
| Destructor. | |
| virtual Object * | copy () const |
| Copy this body and return a pointer to the copy. | |
| PinJoint & | operator= (const PinJoint &aJoint) |
| Assignment operator. | |
| void | copyData (const PinJoint &aJoint) |
| Copy data members from one PinJoint to another. | |
| virtual int | numCoordinates () const |
| 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. | |
Detailed Description
A class implementing an Pin joint.
The underlying implementation in Simbody is a MobilizedBody::Pin. Pin provides one DoF about the common z-axis of the joint frames (not body) in the parent and body.
- Version:
- 1.0
Constructor & Destructor Documentation
| PinJoint::PinJoint | ( | ) |
Pin has no additional properties.
Default constructor.
| PinJoint::PinJoint | ( | const PinJoint & | aJoint | ) |
Copy constructor.
- Parameters:
-
aJoint PinJoint to be copied.
| PinJoint::PinJoint | ( | 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.
| PinJoint::~PinJoint | ( | ) | [virtual] |
Destructor.
Member Function Documentation
| Object * PinJoint::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 PinJoint::copyData | ( | const PinJoint & | aJoint | ) |
Copy data members from one PinJoint to another.
- Parameters:
-
aJoint PinJoint to be copied.
Reimplemented from OpenSim::Joint.
| void PinJoint::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 int OpenSim::PinJoint::numCoordinates | ( | ) | const [inline, virtual] |
Implements OpenSim::Joint.
| void PinJoint::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 PinJoint::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 PinJoint.
Reimplemented from OpenSim::Joint.
The documentation for this class was generated from the following files:
- OpenSim/Simulation/SimbodyEngine/PinJoint.h
- OpenSim/Simulation/SimbodyEngine/PinJoint.cpp
