Rod Class Reference
One constraint equation.
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#include <Constraint.h>
List of all members.
Detailed Description
One constraint equation.
This constraint 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.
Caution: you can't use this to enforce a distance of zero between two points. That takes three constraints because there is no restriction on the force direction. For a distance of zero (i.e., you want the points to be coincident) use a Ball constraint, a.k.a. CoincidentPoints constraint.
Constructor & Destructor Documentation
Member Function Documentation
| Real getAccelerationError |
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const State & |
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const |
| MobilizedBodyIndex getBody1MobilizedBodyIndex |
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const |
| MobilizedBodyIndex getBody2MobilizedBodyIndex |
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const |
| const Vec3& getDefaultPointOnBody1 |
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const |
| const Vec3& getDefaultPointOnBody2 |
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const |
| Real getDefaultRodLength |
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const |
| Real getMultiplier |
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const State & |
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const |
| const Vec3& getPointOnBody1 |
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const State & |
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const |
| const Vec3& getPointOnBody2 |
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const State & |
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const |
| Real getPositionError |
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const State & |
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const |
| Real getRodLength |
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const State & |
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const |
| Real getRodTension |
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const State & |
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const |
| Real getVelocityError |
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const State & |
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const |
| Rod& setDefaultPointOnBody1 |
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const Vec3 & |
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| Rod& setDefaultPointOnBody2 |
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const Vec3 & |
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| Rod& setDefaultRodLength |
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Real |
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| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS |
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Rod |
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RodImpl |
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Constraint |
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The documentation for this class was generated from the following file:
