Free Class Reference
Unrestricted motion for a rigid body (six mobilities). More...
#include <MobilizedBody.h>
Public Member Functions | |
| Free (Direction=Forward) | |
| Free (MobilizedBody &parent, const Body &, Direction=Forward) | |
| By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp. | |
| Free (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Direction=Forward) | |
| Use this constructor to specify mobilizer frames which are not coincident with the body frames. | |
| Free & | addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P. | |
| Free & | addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. | |
| Free & | addInboardDecoration (const Transform &X_FD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P. | |
| Free & | setDefaultInboardFrame (const Transform &X_PF) |
| Change this mobilizer's frame F on the parent body P. | |
| Free & | setDefaultOutboardFrame (const Transform &X_BM) |
| Change this mobilizer's frame M fixed on this (the outboard) body B. | |
| Free & | setDefaultTranslation (const Vec3 &) |
| Free & | setDefaultQuaternion (const Quaternion &) |
| Free & | setDefaultRotation (const Rotation &) |
| Free & | setDefaultTransform (const Transform &) |
| const Vec3 & | getDefaultTranslation () const |
| const Quaternion & | getDefaultQuaternion () const |
| Rotation | getDefaultRotation () const |
| Transform | getDefaultTransform () const |
| const Vec7 & | getDefaultQ () const |
| Free & | setDefaultQ (const Vec7 &q) |
| const Vec7 & | getQ (const State &) const |
| const Vec7 & | getQDot (const State &) const |
| const Vec7 & | getQDotDot (const State &) const |
| const Vec6 & | getU (const State &) const |
| const Vec6 & | getUDot (const State &) const |
| void | setQ (State &, const Vec7 &) const |
| void | setU (State &, const Vec6 &) const |
| const Vec7 & | getMyPartQ (const State &, const Vector &qlike) const |
| const Vec6 & | getMyPartU (const State &, const Vector &ulike) const |
| Vec7 & | updMyPartQ (const State &, Vector &qlike) const |
| Vec6 & | updMyPartU (const State &, Vector &ulike) const |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Free, FreeImpl, MobilizedBody) | |
Detailed Description
Unrestricted motion for a rigid body (six mobilities).
Orientation is modeled the same as for the Orientation mobilizer, that is, using quaternions to avoid singularities. A modeling option exists to have the joint modeled with a 1-2-3 body fixed Euler sequence like a Gimbal mobilizer. Translational generalized coordinates are x,y,z translations along the F (inboard) axes.
Constructor & Destructor Documentation
| Free | ( | MobilizedBody & | parent, | |
| const Body & | , | |||
| Direction | = Forward | |||
| ) |
By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
| Free | ( | MobilizedBody & | parent, | |
| const Transform & | inbFrame, | |||
| const Body & | , | |||
| const Transform & | outbFrame, | |||
| Direction | = Forward | |||
| ) |
Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Member Function Documentation
| Free& addBodyDecoration | ( | const Transform & | X_BD, | |
| const DecorativeGeometry & | g | |||
| ) | [inline] |
Add decorative geometry specified relative to the new (outboard) body's reference frame B, or to the outboard mobilizer frame M attached to body B, or to the inboard mobilizer frame F attached to the parent body P.
Note that the body itself may already have had some decorative geometry on it when it was first put into this MobilizedBody; in that case this just adds more.
Reimplemented from MobilizedBody.
References MobilizedBody::addBodyDecoration().
| Free& addInboardDecoration | ( | const Transform & | X_FD, | |
| const DecorativeGeometry & | ||||
| ) | [inline] |
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent body P.
If body P already has decorative geometry on it, this just adds some more.
Reimplemented from MobilizedBody.
References MobilizedBody::addInboardDecoration().
| Free& addOutboardDecoration | ( | const Transform & | X_MD, | |
| const DecorativeGeometry & | ||||
| ) | [inline] |
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
If body B already has decorative geometry on it, this just adds some more.
Reimplemented from MobilizedBody.
References MobilizedBody::addOutboardDecoration().
| const Vec7& getDefaultQ | ( | ) | const |
| const Quaternion& getDefaultQuaternion | ( | ) | const |
| Rotation getDefaultRotation | ( | ) | const [inline] |
| Transform getDefaultTransform | ( | ) | const [inline] |
| const Vec3& getDefaultTranslation | ( | ) | const |
Change this mobilizer's frame F on the parent body P.
Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.
Reimplemented from MobilizedBody.
References MobilizedBody::setDefaultInboardFrame().
Change this mobilizer's frame M fixed on this (the outboard) body B.
Calling this method invalidates the MobilizedBody's topology, so the containing matter subsystem's realizeTopology() method must be called again. A reference to this MobilizedBody is returned so that this can be chained like an assignment operator.
Reimplemented from MobilizedBody.
References MobilizedBody::setDefaultOutboardFrame().
| Free& setDefaultQuaternion | ( | const Quaternion & | ) |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | Free | , | |
| FreeImpl | , | |||
| MobilizedBody | ||||
| ) |
The documentation for this class was generated from the following file:
