OpenSim::WeldConstraint Class Reference

A class implementing a Weld Constraint. More...

#include <WeldConstraint.h>

Inheritance diagram for OpenSim::WeldConstraint:

List of all members.

Public Member Functions
	WeldConstraint ()
	Default constructor.
	WeldConstraint (const std::string &name, OpenSim::Body &body1, SimTK::Vec3 locationInBody1, SimTK::Vec3 orientationInBody1, OpenSim::Body &body2, SimTK::Vec3 locationInBody2, SimTK::Vec3 orientationInBody2)
	WeldConstraint (const std::string &name, OpenSim::Body &body1, SimTK::Transform transformInBody1, OpenSim::Body &body2, SimTK::Transform transformInBody2)
	WeldConstraint (const WeldConstraint &aConstraint)
	Copy constructor.
virtual	~WeldConstraint ()
	Destructor.
virtual Object *	copy () const
	Copy this body and return a pointer to the copy.
WeldConstraint &	operator= (const WeldConstraint &aConstraint)
	Assignment operator.
void	copyData (const WeldConstraint &aConstraint)
	Copy data members from one WeldConstraint to another.
void	setBody1ByName (std::string aBodyName)
	Following methods set attributes of the weld constraint.
void	setBody1WeldLocation (SimTK::Vec3 location, SimTK::Vec3 orientation=SimTK::Vec3(0))
void	setBody2ByName (std::string aBodyName)
void	setBody2WeldLocation (SimTK::Vec3 location, SimTK::Vec3 orientation=SimTK::Vec3(0))
virtual void	setContactPointForInducedAccelerations (const SimTK::State &s, SimTK::Vec3 point)
	This method specifies the interface that a constraint must implement in order to be used by the Induced Accelerations Analysis.
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::Constraint::Weld which implements this Weld.
Protected Attributes
PropertyStr	_body1NameProp
	Specify first of two bodies welded together by the constraint.
std::string &	_body1Name
PropertyStr	_body2NameProp
	Specify second of two bodies welded by the constraint.
std::string &	_body2Name
PropertyDblVec3	_locationInBody1Prop
	Location of the weld in first body specified in body1 reference frame.
SimTK::Vec3 &	_locationInBody1
PropertyDblVec3	_orientationInBody1Prop
	Orientation of the weld axes on body1 specified in body1's reference frame.
SimTK::Vec3 &	_orientationInBody1
PropertyDblVec3	_locationInBody2Prop
	Location of the weld in second body specified in body2 reference frame.
SimTK::Vec3 &	_locationInBody2
PropertyDblVec3	_orientationInBody2Prop
	Orientation of the weld axes on body2 specified in body2's reference frame.
SimTK::Vec3 &	_orientationInBody2
Body *	_body1
	First body weld constraint joins.
Body *	_body2
	Second body weld constraint joins.
Friends
class	SimbodyEngine

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Detailed Description

A class implementing a Weld Constraint.

The underlying Constraint in Simbody is a Constraint::Weld

Author:

Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

WeldConstraint::WeldConstraint

(

)

Default constructor.

WeldConstraint::WeldConstraint	(	const std::string &	name,
		OpenSim::Body &	body1,
		SimTK::Vec3	locationInBody1,
		SimTK::Vec3	orientationInBody1,
		OpenSim::Body &	body2,
		SimTK::Vec3	locationInBody2,
		SimTK::Vec3	orientationInBody2
	)

WeldConstraint::WeldConstraint	(	const std::string &	name,
		OpenSim::Body &	body1,
		SimTK::Transform	transformInBody1,
		OpenSim::Body &	body2,
		SimTK::Transform	transformInBody2
	)

WeldConstraint::WeldConstraint

(

const WeldConstraint &

aConstraint

)

Copy constructor.

Parameters:

aConstraint

WeldConstraint to be copied.

WeldConstraint::~WeldConstraint

(

)

[virtual]

Destructor.

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Member Function Documentation

Object * WeldConstraint::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::Constraint.

void WeldConstraint::copyData

(

const WeldConstraint &

aConstraint

)

Copy data members from one WeldConstraint to another.

Parameters:

aConstraint

WeldConstraint to be copied.

Reimplemented from OpenSim::Constraint.

void WeldConstraint::createSystem

(

SimTK::MultibodySystem &

system

)

const [protected, virtual]

Create a SimTK::Constraint::Weld which implements this Weld.

Reimplemented from OpenSim::ModelComponent.

WeldConstraint & WeldConstraint::operator=

(

const WeldConstraint &

aConstraint

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Constraint.

void WeldConstraint::setBody1ByName

(

std::string

aBodyName

)

Following methods set attributes of the weld constraint.

void OpenSim::WeldConstraint::setBody1WeldLocation	(	SimTK::Vec3	location,
		SimTK::Vec3	orientation = SimTK::Vec3(0)
	)

void WeldConstraint::setBody2ByName

(

std::string

aBodyName

)

void OpenSim::WeldConstraint::setBody2WeldLocation	(	SimTK::Vec3	location,
		SimTK::Vec3	orientation = SimTK::Vec3(0)
	)

virtual void OpenSim::WeldConstraint::setContactPointForInducedAccelerations	(	const SimTK::State &	s,
		SimTK::Vec3	point
	)			[virtual]

This method specifies the interface that a constraint must implement in order to be used by the Induced Accelerations Analysis.

Reimplemented from OpenSim::Constraint.

void WeldConstraint::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 WeldConstraint.

Reimplemented from OpenSim::Constraint.

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Friends And Related Function Documentation

friend class SimbodyEngine [friend]

Reimplemented from OpenSim::Constraint.

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Member Data Documentation

Body* OpenSim::WeldConstraint::_body1 [protected]

First body weld constraint joins.

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

PropertyStr OpenSim::WeldConstraint::_body1NameProp [protected]

Specify first of two bodies welded together by the constraint.

Body* OpenSim::WeldConstraint::_body2 [protected]

Second body weld constraint joins.

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

PropertyStr OpenSim::WeldConstraint::_body2NameProp [protected]

Specify second of two bodies welded by the constraint.

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

PropertyDblVec3 OpenSim::WeldConstraint::_locationInBody1Prop [protected]

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

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

PropertyDblVec3 OpenSim::WeldConstraint::_locationInBody2Prop [protected]

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

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

PropertyDblVec3 OpenSim::WeldConstraint::_orientationInBody1Prop [protected]

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

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

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

PropertyDblVec3 OpenSim::WeldConstraint::_orientationInBody2Prop [protected]

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

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

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

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