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SimTK::Constraint::Ball Class Reference

Enforce that a fixed station on one body remains coincident with a fixed station on a second body, as though there were a ball joint connecting them at those points. More...

+ Inheritance diagram for SimTK::Constraint::Ball:

Public Member Functions

 Ball (MobilizedBody &body1, MobilizedBody &body2)
 Connect the origin of body1 to the origin of body2. More...
 
 Ball (MobilizedBody &body1, const Vec3 &defaultPoint1, MobilizedBody &body2, const Vec3 &defaultPoint2)
 Connect body1 and body2 at given station points, given in the body frame of the corresponding body. More...
 
 Ball ()
 Default constructor creates an empty handle. More...
 
void setPointOnBody1 (State &state, const Vec3 &point_B1) const
 Change the station point on body 1 at which this Constraint acts. More...
 
void setPointOnBody2 (State &state, const Vec3 &point_B2) const
 Change the station point on body 2 at which this Constraint acts. More...
 
const Vec3getPointOnBody1 (const State &state) const
 Return from the given state the constrained station on body 1, in the body 1 frame. More...
 
const Vec3getPointOnBody2 (const State &state) const
 Return from the given state the constrained station on body 2, in the body 2 frame. More...
 
BallsetDefaultPointOnBody1 (const Vec3 &defaultPoint_B1)
 Change the default station location on body 1. More...
 
BallsetDefaultPointOnBody2 (const Vec3 &defaultPoint_B2)
 Change the default station location on body 2. More...
 
const Vec3getDefaultPointOnBody1 () const
 Return the default location for the station point on body 1, as a vector in the body 1 frame. More...
 
const Vec3getDefaultPointOnBody2 () const
 Return the default location for the station point on body 2, as a vector in the body 2 frame. More...
 
BallsetDefaultRadius (Real r)
 For visualization only, you can override the default radius used by this Constraint to draw itself. More...
 
Real getDefaultRadius () const
 Retreive the radius being used for visualization of this Constraint. More...
 
MobilizedBodyIndex getBody1MobilizedBodyIndex () const
 Return the MobilizedBodyIndex corresponding to body 1. More...
 
MobilizedBodyIndex getBody2MobilizedBodyIndex () const
 Return the MobilizedBodyIndex corresponding to body 2. More...
 
Vec3 getPositionErrors (const State &state) const
 Return the current position-level constraint error for this Constraint. More...
 
Vec3 getVelocityErrors (const State &state) const
 Return the current velocity-level constraint error for this Constraint. More...
 
Vec3 getAccelerationErrors (const State &) const
 Return the current acceleration-level constraint error for this Constraint. More...
 
Vec3 getBallReactionForceOnBody1 (const State &) const
 Return the force currently being applied by this Constraint to the point of body 1 that is coincident in space with the constrained point on body 2. More...
 
Vec3 getBallReactionForceOnBody2 (const State &) const
 Return the force currently being applied by this Constraint to body 2, at its constrained station point. More...
 
Vec3 getMultipliers (const State &state) const
 Return the three Lagrange multipliers associated with the three accleration-level constraint equations generated by this Constraint. More...
 
- Public Member Functions inherited from SimTK::Constraint
 Constraint ()
 Default constructor creates an empty Constraint handle that can be used to reference any Constraint. More...
 
 Constraint (ConstraintImpl *r)
 For internal use: construct a new Constraint handle referencing a particular implementation object. More...
 
void disable (State &) const
 Disable this Constraint, effectively removing it from the system. More...
 
void enable (State &) const
 Enable this Constraint, without necessarily satisfying it. More...
 
bool isDisabled (const State &) const
 Test whether this constraint is currently disabled in the supplied State. More...
 
bool isDisabledByDefault () const
 Test whether this Constraint is disabled by default in which case it must be explicitly enabled before it will take effect. More...
 
void setDisabledByDefault (bool shouldBeDisabled)
 Normally Constraints are enabled when defined and can be disabled later. More...
 
 operator ConstraintIndex () const
 This is an implicit conversion from Constraint to ConstraintIndex when needed. More...
 
const SimbodyMatterSubsystemgetMatterSubsystem () const
 Get a const reference to the matter subsystem that contains this Constraint. More...
 
SimbodyMatterSubsystemupdMatterSubsystem ()
 Assuming you have writable access to this Constraint, get a writable reference to the containing matter subsystem. More...
 
ConstraintIndex getConstraintIndex () const
 Get the ConstraintIndex that was assigned to this Constraint when it was added to the matter subsystem. More...
 
bool isInSubsystem () const
 Test whether this Constraint is contained within a matter subsystem. More...
 
bool isInSameSubsystem (const MobilizedBody &mobod) const
 Test whether the supplied MobilizedBody is in the same matter subsystem as this Constraint. More...
 
int getNumConstrainedBodies () const
 Return the number of unique bodies directly restricted by this constraint. More...
 
const MobilizedBodygetMobilizedBodyFromConstrainedBody (ConstrainedBodyIndex consBodyIx) const
 Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Bodies included in the count returned by getNumConstrainedBodies(). More...
 
const MobilizedBodygetAncestorMobilizedBody () const
 Return a const reference to the actual MobilizedBody which is serving as the Ancestor body for the constrained bodies in this Constraint. More...
 
int getNumConstrainedMobilizers () const
 Return the number of unique mobilizers directly restricted by this Constraint. More...
 
const MobilizedBodygetMobilizedBodyFromConstrainedMobilizer (ConstrainedMobilizerIndex consMobilizerIx) const
 Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Mobilizers included in the count returned by getNumConstrainedMobilizers(). More...
 
const SimbodyMatterSubtreegetSubtree () const
 Return a subtree object indicating which parts of the multibody tree are potentially affected by this Constraint. More...
 
int getNumConstrainedQ (const State &, ConstrainedMobilizerIndex) const
 Return the number of constrainable generalized coordinates q associated with a particular constrained mobilizer. More...
 
int getNumConstrainedU (const State &, ConstrainedMobilizerIndex) const
 Return the number of constrainable mobilities u associated with a particular constrained mobilizer. More...
 
ConstrainedUIndex getConstrainedUIndex (const State &, ConstrainedMobilizerIndex, MobilizerUIndex which) const
 Return the index into the constrained mobilities u array corresponding to a particular mobility of the indicated ConstrainedMobilizer. More...
 
ConstrainedQIndex getConstrainedQIndex (const State &, ConstrainedMobilizerIndex, MobilizerQIndex which) const
 Return the index into the constrained coordinates q array corresponding to a particular coordinate of the indicated ConstrainedMobilizer. More...
 
int getNumConstrainedQ (const State &) const
 Return the sum of the number of coordinates q associated with each of the constrained mobilizers. More...
 
int getNumConstrainedU (const State &) const
 Return the sum of the number of mobilities u associated with each of the constrained mobilizers. More...
 
QIndex getQIndexOfConstrainedQ (const State &state, ConstrainedQIndex consQIndex) const
 Map one of this Constraint's constrained q's to the corresponding index within the matter subsystem's whole q vector. More...
 
UIndex getUIndexOfConstrainedU (const State &state, ConstrainedUIndex consUIndex) const
 Map one of this Constraint's constrained U's (or mobilities) to the corresponding index within the matter subsystem's whole u vector. More...
 
void getNumConstraintEquationsInUse (const State &state, int &mp, int &mv, int &ma) const
 Find out how many holonomic (position), nonholonomic (velocity), and acceleration-only constraint equations are currently being generated by this Constraint. More...
 
void getIndexOfMultipliersInUse (const State &state, MultiplierIndex &px0, MultiplierIndex &vx0, MultiplierIndex &ax0) const
 Return the start of the blocks of multipliers (or acceleration errors) assigned to this Constraint. More...
 
void setMyPartInConstraintSpaceVector (const State &state, const Vector &myPart, Vector &constraintSpace) const
 Set the part of a complete constraint-space vector that belongs to this constraint. More...
 
void getMyPartFromConstraintSpaceVector (const State &state, const Vector &constraintSpace, Vector &myPart) const
 Get the part of a complete constraint-space vector that belongs to this constraint. More...
 
Vector getPositionErrorsAsVector (const State &) const
 Get a Vector containing the position errors. More...
 
Vector calcPositionErrorFromQ (const State &, const Vector &q) const
 
Matrix calcPositionConstraintMatrixP (const State &) const
 
Matrix calcPositionConstraintMatrixPt (const State &) const
 
Matrix calcPositionConstraintMatrixPNInv (const State &) const
 
void calcConstraintForcesFromMultipliers (const State &, const Vector &lambda, Vector_< SpatialVec > &bodyForcesInA, Vector &mobilityForces) const
 This operator calculates this constraint's body and mobility forces given the complete set of multipliers lambda for this Constraint. More...
 
Vector getVelocityErrorsAsVector (const State &) const
 Get a Vector containing the velocity errors. More...
 
Vector calcVelocityErrorFromU (const State &, const Vector &u) const
 
Matrix calcVelocityConstraintMatrixV (const State &) const
 
Matrix calcVelocityConstraintMatrixVt (const State &) const
 
Vector getAccelerationErrorsAsVector (const State &) const
 Get a Vector containing the acceleration errors. More...
 
Vector calcAccelerationErrorFromUDot (const State &, const Vector &udot) const
 
Vector getMultipliersAsVector (const State &) const
 Get a Vector containing the Lagrange multipliers. More...
 
void getConstraintForcesAsVectors (const State &state, Vector_< SpatialVec > &bodyForcesInG, Vector &mobilityForces) const
 Given a State realized through Acceleration stage, return the forces that were applied to the system by this Constraint, with body forces expressed in Ground. More...
 
Vector_< SpatialVecgetConstrainedBodyForcesAsVector (const State &state) const
 For convenience, returns constrained body forces as the function return. More...
 
Vector getConstrainedMobilityForcesAsVector (const State &state) const
 For convenience, returns constrained mobility forces as the function return. More...
 
Real calcPower (const State &state) const
 Calculate the power being applied by this Constraint to the system. More...
 
Matrix calcAccelerationConstraintMatrixA (const State &) const
 
Matrix calcAccelerationConstraintMatrixAt (const State &) const
 
void setIsConditional (bool isConditional)
 (Advanced) Mark this constraint as one that is only conditionally active. More...
 
bool isConditional () const
 (Advanced) Get the value of the isConditional flag. More...
 
- Public Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
bool isEmptyHandle () const
 Returns true if this handle is empty, that is, does not refer to any implementation object. More...
 
bool isOwnerHandle () const
 Returns true if this handle is the owner of the implementation object to which it refers. More...
 
bool isSameHandle (const Constraint &other) const
 Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...
 
void disown (Constraint &newOwner)
 Give up ownership of the implementation to an empty handle. More...
 
PIMPLHandlereferenceAssign (const Constraint &source)
 "Copy" assignment but with shallow (pointer) semantics. More...
 
PIMPLHandlecopyAssign (const Constraint &source)
 This is real copy assignment, with ordinary C++ object ("value") semantics. More...
 
void clearHandle ()
 Make this an empty handle, deleting the implementation object if this handle is the owner of it. More...
 
const ConstraintImpl & getImpl () const
 Get a const reference to the implementation associated with this Handle. More...
 
ConstraintImpl & updImpl ()
 Get a writable reference to the implementation associated with this Handle. More...
 
int getImplHandleCount () const
 Return the number of handles the implementation believes are referencing it. More...
 

Additional Inherited Members

- Public Types inherited from SimTK::Constraint
typedef Rod ConstantDistance
 Synonym for Rod constraint. More...
 
typedef Ball CoincidentPoints
 Synonym for Ball constraint. More...
 
typedef Ball Spherical
 Synonym for Ball constraint. More...
 
typedef Weld CoincidentFrames
 
- Public Types inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
typedef PIMPLHandle
< Constraint, ConstraintImpl,
PTR > 
HandleBase
 
typedef HandleBase ParentHandle
 
- Protected Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
 PIMPLHandle ()
 The default constructor makes this an empty handle. More...
 
 PIMPLHandle (ConstraintImpl *p)
 This provides consruction of a handle referencing an existing implementation object. More...
 
 PIMPLHandle (const PIMPLHandle &source)
 The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
 
 ~PIMPLHandle ()
 Note that the destructor is non-virtual. More...
 
PIMPLHandleoperator= (const PIMPLHandle &source)
 Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
 
void setImpl (ConstraintImpl *p)
 Set the implementation for this empty handle. More...
 
bool hasSameImplementation (const Constraint &other) const
 Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...
 

Detailed Description

Enforce that a fixed station on one body remains coincident with a fixed station on a second body, as though there were a ball joint connecting them at those points.

Uses three position-level (holonomic) constraint equations to prevent relative translation in three orthogonal directions.

At construction you specify the two bodies to be connected by the Constraint, and give default values for a station on each body. The State is initialized with those default stations, but you can change them later.

The constraint is enforced by an internal (non-working) force applied at the spatial location of the point on body 2, on material points of each body that are coincident with that spatial location. Note that this is somewhat asymmetric when the ball is not properly assembled – it acts as though the contact occurs at the point on body 2, not at the point on body 1. That is critical to ensure that Newton's 3rd law is satisified – the action and reaction must occur at the same point.

The assembly condition is the same as the runtime constraint – the two points can be brought together by driving the perr to zero.

Constructor & Destructor Documentation

Connect the origin of body1 to the origin of body2.

That is, the default stations will both be (0,0,0). You can change those later in the State using setPointOnBody1() and setPointOnBody2().

SimTK::Constraint::Ball::Ball ( MobilizedBody body1,
const Vec3 defaultPoint1,
MobilizedBody body2,
const Vec3 defaultPoint2 
)

Connect body1 and body2 at given station points, given in the body frame of the corresponding body.

You can change those later in the State using setPointOnBody1() and setPointOnBody2().

Default constructor creates an empty handle.

Member Function Documentation

void SimTK::Constraint::Ball::setPointOnBody1 ( State state,
const Vec3 point_B1 
) const

Change the station point on body 1 at which this Constraint acts.

Provide the station location in the body 1 local frame. This overrides the default point that was supplied on construction. This is an Instance-stage change.

void SimTK::Constraint::Ball::setPointOnBody2 ( State state,
const Vec3 point_B2 
) const

Change the station point on body 2 at which this Constraint acts.

Provide the station location in the body 2 local frame. This overrides the default point that was supplied on construction. This is an Instance-stage change.

const Vec3& SimTK::Constraint::Ball::getPointOnBody1 ( const State state) const

Return from the given state the constrained station on body 1, in the body 1 frame.

const Vec3& SimTK::Constraint::Ball::getPointOnBody2 ( const State state) const

Return from the given state the constrained station on body 2, in the body 2 frame.

Ball& SimTK::Constraint::Ball::setDefaultPointOnBody1 ( const Vec3 defaultPoint_B1)

Change the default station location on body 1.

This is a topological change meaning you'll have to call realizeTopology() again after changing the default point. If you want to change the constrained station during a simulation, use setPointOnBody1() instead to override it in a State.

Ball& SimTK::Constraint::Ball::setDefaultPointOnBody2 ( const Vec3 defaultPoint_B2)

Change the default station location on body 2.

This is a topological change meaning you'll have to call realizeTopology() again after changing the default point. If you want to change the constrained station during a simulation, use setPointOnBody2() instead to override it in a State.

const Vec3& SimTK::Constraint::Ball::getDefaultPointOnBody1 ( ) const

Return the default location for the station point on body 1, as a vector in the body 1 frame.

Note that this is not necessarily the station point being used for any given State; use getPointOnBody1() for that.

const Vec3& SimTK::Constraint::Ball::getDefaultPointOnBody2 ( ) const

Return the default location for the station point on body 2, as a vector in the body 2 frame.

Note that this is not necessarily the station point being used for any given State; use getPointOnBody2() for that.

Ball& SimTK::Constraint::Ball::setDefaultRadius ( Real  r)

For visualization only, you can override the default radius used by this Constraint to draw itself.

Real SimTK::Constraint::Ball::getDefaultRadius ( ) const

Retreive the radius being used for visualization of this Constraint.

MobilizedBodyIndex SimTK::Constraint::Ball::getBody1MobilizedBodyIndex ( ) const

Return the MobilizedBodyIndex corresponding to body 1.

MobilizedBodyIndex SimTK::Constraint::Ball::getBody2MobilizedBodyIndex ( ) const

Return the MobilizedBodyIndex corresponding to body 2.

Vec3 SimTK::Constraint::Ball::getPositionErrors ( const State state) const

Return the current position-level constraint error for this Constraint.

This is the vector between the constrained stations on body 1 and body 2, which would be zero if this constraint were perfectly satisfied. The returned vector is measured in the Ancestor body frame. The given state must be realized through Position stage.

Vec3 SimTK::Constraint::Ball::getVelocityErrors ( const State state) const

Return the current velocity-level constraint error for this Constraint.

This is the relative velocity between the material points of body 1 and body 2 that are coincident with the constrained station point on body 2; note that this is subtly different from the time derivative of the position error vector. The returned vector is measured in the Ancestor body frame. The given state must be realized through Velocity stage.

Vec3 SimTK::Constraint::Ball::getAccelerationErrors ( const State ) const

Return the current acceleration-level constraint error for this Constraint.

This is the relative acceleration between the material points of body 1 and body 2 that are coincident with the constrained station point on body 2; this is precisely the time derivative of the velocity error vector (but not exactly the second time derivative of the position error). The returned vector is measured in the Ancestor body frame. The given state must be realized through Acceleration stage.

Vec3 SimTK::Constraint::Ball::getBallReactionForceOnBody1 ( const State ) const

Return the force currently being applied by this Constraint to the point of body 1 that is coincident in space with the constrained point on body 2.

The force vector is expressed in body 1's local frame.

Vec3 SimTK::Constraint::Ball::getBallReactionForceOnBody2 ( const State ) const

Return the force currently being applied by this Constraint to body 2, at its constrained station point.

The force vector is expressed in body 2's local frame.

Vec3 SimTK::Constraint::Ball::getMultipliers ( const State state) const

Return the three Lagrange multipliers associated with the three accleration-level constraint equations generated by this Constraint.

Although these are related to reaction forces, if that's what you're interested in you should use getBallReactionForcesOnBody1() or getBallReactionForceOnBody2() instead; the definition of the multipliers is somewhat arbitrary and will not always be easy to interpret as forces. The given state must be realized through Acceleration stage.


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