MobilityLinearSpring Class Reference

A linear spring along or around a mobility coordinate. More...

#include <Force.h>

Inheritance diagram for MobilityLinearSpring:

List of all members.

Public Member Functions
	MobilityLinearSpring (GeneralForceSubsystem &forces, const MobilizedBody &body, int coordinate, Real k, Real q0)
	Create a MobilityLinearSpring.
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (MobilityLinearSpring, MobilityLinearSpringImpl, Force)

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Detailed Description

A linear spring along or around a mobility coordinate.

The stiffness k is provided, along with an arbitrary "zero" coordinate value q0 at which the spring generates no force. The generated force is k*(q-q0), and potential energy is pe = 1/2 k (q-q0)^2. This is not meaningful unless the mobility coordinate is such that qdot=u for that coordinate. In particular, do not use this on a coordinate which is part of a quaternion.

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Constructor & Destructor Documentation

MobilityLinearSpring	(	GeneralForceSubsystem &	forces,
		const MobilizedBody &	body,
		int	coordinate,
		Real	k,
		Real	q0
	)

Create a MobilityLinearSpring.

Parameters:

	forces	the subsystem to which this force should be added
	body	the body to which the force should be applied
	coordinate	the index of the coordinate in the body's u vector to which the force should be applied
	k	the spring constant
	q0	the value of the coordinate at which the force is 0

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Member Function Documentation

SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	MobilityLinearSpring	,
		MobilityLinearSpringImpl	,
		Force
	)

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

• Force.h