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Simbody
3.5
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Simbody
3.5
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This constraint consists of one constraint equation that enforces a constant distance between a point on one body and a point on another body. More...
Inheritance diagram for SimTK::Constraint::Rod:Public Member Functions | |
Construction | |
Methods in this section refer both to constructors, and to methods that can be used to set or change contruction (Topology-stage) parameters; these specify the values assigned by default to the corresponding state variables. Note:
The default parameters can be overridden in any given State, and modified without affecting Topology; see the "Runtime Changes" section below. | |
| Rod (MobilizedBody &mobod1, const Vec3 &defaultPointOnBody1, MobilizedBody &mobod2, const Vec3 &defaultPointOnBody2, Real defaultRodLength) | |
| Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentation. More... | |
| Rod (MobilizedBody &mobod1, MobilizedBody &mobod2, Real defaultRodLength) | |
| Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentation, but using the body origins as the Rod end points. More... | |
| Rod () | |
| Default constructor creates an empty handle that can be used to reference any Rod Constraint. More... | |
| const MobilizedBody & | getMobilizedBody1 () const |
| Return a reference to the first MobilizedBody given in the constructor. More... | |
| const MobilizedBody & | getMobilizedBody2 () const |
| Return a reference to the second MobilizedBody given in the constructor. More... | |
| Rod & | setDefaultPointOnBody1 (const Vec3 &defaultPoint) |
| Replace the default location for the point attached to the first body, mobod1, that was supplied on construction. More... | |
| Rod & | setDefaultPointOnBody2 (const Vec3 &defaultPoint) |
| Replace the default location for the point attached to the second body, mobod2, that was supplied on construction. More... | |
| Rod & | setDefaultRodLength (Real defaultRodLength) |
| Replace the default rod length (distance), replacing whatever value was supplied on construction. More... | |
| const Vec3 & | getDefaultPointOnBody1 () const |
| Return the default location for the point attached to the first mobilized body, mobod1, as set during construction or by the most recent call to setDefaultPointOnBody1(). More... | |
| const Vec3 & | getDefaultPointOnBody2 () const |
| Return the default location for the point attached to the second mobilized body, mobod2, as set during construction or by the most recent call to setDefaultPointOnBody2(). More... | |
| Real | getDefaultRodLength () const |
| Return the default rod length (distance) as set during construction or by the most recent call to setDefaultRodLength(). More... | |
Runtime Changes | |
These refer to Position-stage discrete state variables that determine the sphere parameters to be used to calculate constraint forces from a given State object. If these are not set explicitly, the parameters are set to those provided in the constructor or via the correponding setDefault...() methods. Note:
You can also modify and examine the default parameters; see the "Construction" section above. | |
| const Rod & | setPointOnBody1 (State &state, const Vec3 &p_B1P) const |
| Modify the location of the point P on the first body, mobod1, in this state by providing a new vector p_B1P giving the location of P measured from body 1's origin, and expressed in the B1 frame. More... | |
| const Rod & | setPointOnBody2 (State &state, const Vec3 &p_B2Q) const |
| Modify the location of the point Q on the second body, mobod2, in this state by providing a new vector p_B2Q giving the location of Q measured from body 2's origin, and expressed in the B2 frame. More... | |
| const Rod & | setRodLength (State &state, Real rodLength) const |
| Modify the rod length (distance) in this state. More... | |
| const Vec3 & | getPointOnBody1 (const State &state) const |
| Return the position on body 1 of the rod end point P on the first body, mobod1, as currently set in the given state. More... | |
| const Vec3 & | getPointOnBody2 (const State &state) const |
| Return the position on body 2 of the rod end point Q attached to the second body, mobod2, as currently set in the given state. More... | |
| Real | getRodLength (const State &state) const |
| Return the rod length (distance) as currently set in the given state. More... | |
Computations | |
Methods here provide access to values already calculated by this constraint element, and provide operators you can call to calculate related values. | |
| Real | getPositionError (const State &) const |
| This is the signed violation of the position constraint, in length units. More... | |
| Real | getVelocityError (const State &) const |
| This is the time derivative of the value returned by getPositionError(); in this case it is the relative velocity of the two points projected onto the direction of the line between them. More... | |
| Real | getAccelerationError (const State &) const |
| This is the time derivative of the value returned by getVelocityError(). More... | |
| Real | getMultiplier (const State &) const |
| This is the Lagrange multiplier required to enforce the constraint equation generated here. More... | |
| Real | getRodTension (const State &) const |
| This returns the tension in the Rod being used to enforce the constraint. More... | |
| UnitVec3 | findRodOrientationInG (const State &state) const |
| Return the instantaneous orientation of the Rod in the Ground frame. More... | |
| Real | findLengthViolation (const State &state) const |
| Calculate the amount by which this constraint is violated. More... | |
Advanced/Obscure/Obsolete/Debugging | |
You probably don't want to use the methods in this section. | |
| MobilizedBodyIndex | getBody1MobilizedBodyIndex () const |
| (Obscure) Use getMobilizedBody1() instead. More... | |
| MobilizedBodyIndex | getBody2MobilizedBodyIndex () const |
| (Obscure) Use getMobilizedBody2() instead. 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 SimbodyMatterSubsystem & | getMatterSubsystem () const |
| Get a const reference to the matter subsystem that contains this Constraint. More... | |
| SimbodyMatterSubsystem & | updMatterSubsystem () |
| 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 MobilizedBody & | getMobilizedBodyFromConstrainedBody (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 MobilizedBody & | getAncestorMobilizedBody () 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 MobilizedBody & | getMobilizedBodyFromConstrainedMobilizer (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 SimbodyMatterSubtree & | getSubtree () 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_< SpatialVec > | getConstrainedBodyForcesAsVector (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... | |
| PIMPLHandle & | referenceAssign (const Constraint &source) |
| "Copy" assignment but with shallow (pointer) semantics. More... | |
| PIMPLHandle & | copyAssign (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... | |
| PIMPLHandle & | operator= (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... | |
This constraint consists of one constraint equation that enforces a constant distance between a point on one body and a point on another body.
This is like connecting them by a rigid, massless rod with ball joints at either end. The constraint is enforced by a force acting along the rod with opposite signs at either end. When positive, this represents tension in the rod pulling the points together; when negative it represents compression keeping the points separated.
| SimTK::Constraint::Rod::Rod | ( | MobilizedBody & | mobod1, |
| const Vec3 & | defaultPointOnBody1, | ||
| MobilizedBody & | mobod2, | ||
| const Vec3 & | defaultPointOnBody2, | ||
| Real | defaultRodLength | ||
| ) |
Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentation.
| mobod1 | The first MobilizedBody object to which one of the rod endpoints is fixed. |
| defaultPointOnBody1 | This is the location of a point P on mobod1, given as a vector p_B1P from the B1 frame origin to the point P, expressed in the mobod1 body frame B1. This is the point location that will be present in a default State; you can modify it later. |
| mobod2 | The second MobilizedBody object to which the other rod endpoint is fixed. |
| defaultPointOnBody2 | This is the location of a point Q on mobod2, given as a vector p_B2Q from the B2 frame origin to the point Q, expressed in the mobod2 body frame B2. This is the point location that will be present in a default State; you can modify it later. |
| defaultRodLength | The rod length (required distance between points P and Q). This is the value that will be present in a default State; you can modify it later. |
| SimTK::Constraint::Rod::Rod | ( | MobilizedBody & | mobod1, |
| MobilizedBody & | mobod2, | ||
| Real | defaultRodLength | ||
| ) |
Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentation, but using the body origins as the Rod end points.
| mobod1 | The first MobilizedBody object whose origin is used as one of the end points. This is the same as specifying Vec3(0) for defaultPointOnBody1 in the preceding constructor. This is the value that will be present in a default State; you can modify it later. |
| mobod2 | The second MobilizedBody object whose origin is used as one of the end points. This is the same as specifying Vec3(0) for defaultPointOnBody2 in the preceding constructor. This is the value that will be present in a default State; you can modify it later. |
| defaultRodLength | The rod length (required distance between points P and Q). This is the value that will be present in a default State; you can modify it later. |
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inline |
Default constructor creates an empty handle that can be used to reference any Rod Constraint.
| const MobilizedBody& SimTK::Constraint::Rod::getMobilizedBody1 | ( | ) | const |
Return a reference to the first MobilizedBody given in the constructor.
This cannot be changed after construction.
| const MobilizedBody& SimTK::Constraint::Rod::getMobilizedBody2 | ( | ) | const |
Return a reference to the second MobilizedBody given in the constructor.
This cannot be changed after construction.
Replace the default location for the point attached to the first body, mobod1, that was supplied on construction.
This is a topological change; you'll have to call realizeTopology() again if you call this method.
Replace the default location for the point attached to the second body, mobod2, that was supplied on construction.
This is a topological change; you'll have to call realizeTopology() again if you call this method.
Replace the default rod length (distance), replacing whatever value was supplied on construction.
This is a topological change; you'll have to call realizeTopology() again if you call this method.
| const Vec3& SimTK::Constraint::Rod::getDefaultPointOnBody1 | ( | ) | const |
Return the default location for the point attached to the first mobilized body, mobod1, as set during construction or by the most recent call to setDefaultPointOnBody1().
| const Vec3& SimTK::Constraint::Rod::getDefaultPointOnBody2 | ( | ) | const |
Return the default location for the point attached to the second mobilized body, mobod2, as set during construction or by the most recent call to setDefaultPointOnBody2().
| Real SimTK::Constraint::Rod::getDefaultRodLength | ( | ) | const |
Return the default rod length (distance) as set during construction or by the most recent call to setDefaultRodLength().
Modify the location of the point P on the first body, mobod1, in this state by providing a new vector p_B1P giving the location of P measured from body 1's origin, and expressed in the B1 frame.
This overrides the defaultPointOnBody1 in the given state, whose Stage::Position is invalidated.
Modify the location of the point Q on the second body, mobod2, in this state by providing a new vector p_B2Q giving the location of Q measured from body 2's origin, and expressed in the B2 frame.
This overrides the defaultPointOnBody2 in the given state, whose Stage::Position is invalidated.
Modify the rod length (distance) in this state.
This overrides the defaultRodLength in the given state, whose Stage::Position is invalidated.
Return the position on body 1 of the rod end point P on the first body, mobod1, as currently set in the given state.
The value is returned as a vector p_B1P from body 1's origin to the point P, expressed in the B1 frame.
Return the position on body 2 of the rod end point Q attached to the second body, mobod2, as currently set in the given state.
The value is returned as a vector p_B2Q from body 2's origin to the point Q, expressed in the B2 frame.
Return the rod length (distance) as currently set in the given state.
This is the signed violation of the position constraint, in length units.
It is positive when the two points are separated by more than the required distance; negative when closer than the required distance. The given state must have already been realized through Stage::Position.
This is the time derivative of the value returned by getPositionError(); in this case it is the relative velocity of the two points projected onto the direction of the line between them.
This is the time derivative of the value returned by getVelocityError().
This is the Lagrange multiplier required to enforce the constraint equation generated here.
For this Constraint it has units of force, but recall that the sign convention for multipliers is opposite that of forces. Use the other provided methods if you want to get meaningful forces. The given state must already be realized to Stage::Acceleration.
This returns the tension in the Rod being used to enforce the constraint.
It is positive if the Rod is in tension, negative if in compression. The result is zero if the constraint is currently disabled. The given state must already be realized to Stage::Acceleration.
Return the instantaneous orientation of the Rod in the Ground frame.
This is a unit vector along the direction from point1 (on body 1) to point2 (on body 2), unless the points overlap in which case it is an arbitrary direction. This method calculates a valid value even if this constraint is currently disabled. The given state must already be realized to Stage::Position.
Calculate the amount by which this constraint is violated.
It is positive when the distance between the points is greater than the specified Rod length, negative when less. If the constraint is currently enabled then this returns the same value as getPositionError(); however, this method calculates a valid value even if the constraint is currently disabled. The given state must be realized to Stage::Position.
| MobilizedBodyIndex SimTK::Constraint::Rod::getBody1MobilizedBodyIndex | ( | ) | const |
(Obscure) Use getMobilizedBody1() instead.
| MobilizedBodyIndex SimTK::Constraint::Rod::getBody2MobilizedBodyIndex | ( | ) | const |
(Obscure) Use getMobilizedBody2() instead.
1.8.8 
