Pin Class Reference
One mobility -- rotation about the common z axis of the inboard and outboard mobilizer frames. More...
#include <MobilizedBody.h>
Public Member Functions | |
| Pin & | setDefaultAngle (Real angleInRadians) |
| Real | getDefaultAngle () const |
| void | setAngle (State &s, Real angleInRadians) |
| Real | getAngle (const State &s) const |
| void | setRate (State &s, Real rateInRadiansPerTime) |
| Real | getRate (const State &s) const |
| Real | getAppliedPinTorque (const State &s, const Vector &mobilityForces) const |
| void | applyPinTorque (const State &s, Real torque, Vector &mobilityForces) const |
| Pin (Direction=Forward) | |
| Pin (MobilizedBody &parent, const Body &, Direction=Forward) | |
| Pin (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Direction=Forward) | |
| Pin & | setDefaultQ (Real) |
| Real | getDefaultQ () const |
| Real | getQ (const State &) const |
| Real | getQDot (const State &) const |
| Real | getQDotDot (const State &) const |
| Real | getU (const State &) const |
| Real | getUDot (const State &) const |
| void | setQ (State &, Real) const |
| void | setU (State &, Real) const |
| Real | getMyPartQ (const State &, const Vector &qlike) const |
| Real | getMyPartU (const State &, const Vector &ulike) const |
| Real & | updMyPartQ (const State &, Vector &qlike) const |
| Real & | updMyPartU (const State &, Vector &ulike) const |
| Pin & | 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. | |
| Pin & | addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. | |
| Pin & | 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. | |
| Pin & | setDefaultInboardFrame (const Transform &X_PF) |
| Change this mobilizer's frame F on the parent body P. | |
| Pin & | setDefaultOutboardFrame (const Transform &X_BM) |
| Change this mobilizer's frame M fixed on this (the outboard) body B. | |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Pin, PinImpl, MobilizedBody) | |
Detailed Description
One mobility -- rotation about the common z axis of the inboard and outboard mobilizer frames.
Synonym: Torsion
Constructor & Destructor Documentation
| Pin | ( | MobilizedBody & | parent, | |
| const Body & | , | |||
| Direction | = Forward | |||
| ) |
| Pin | ( | MobilizedBody & | parent, | |
| const Transform & | inbFrame, | |||
| const Body & | , | |||
| const Transform & | outbFrame, | |||
| Direction | = Forward | |||
| ) |
Member Function Documentation
| Pin& 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().
| Pin& 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().
| Pin& 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().
| Real getAngle | ( | const State & | s | ) | const [inline] |
| Real getDefaultAngle | ( | ) | const [inline] |
| Real getDefaultQ | ( | ) | const |
| Real getQ | ( | const State & | ) | const |
| Real getQDot | ( | const State & | ) | const |
| Real getQDotDot | ( | const State & | ) | const |
| Real getRate | ( | const State & | s | ) | const [inline] |
| Real getU | ( | const State & | ) | const |
| Real getUDot | ( | const State & | ) | const |
| void setAngle | ( | State & | s, | |
| Real | angleInRadians | |||
| ) | [inline] |
| Pin& setDefaultAngle | ( | Real | angleInRadians | ) | [inline] |
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().
| Pin& setDefaultQ | ( | Real | ) |
| void setQ | ( | State & | , | |
| Real | ||||
| ) | const |
| void setRate | ( | State & | s, | |
| Real | rateInRadiansPerTime | |||
| ) | [inline] |
| void setU | ( | State & | , | |
| Real | ||||
| ) | const |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | Pin | , | |
| PinImpl | , | |||
| MobilizedBody | ||||
| ) |
The documentation for this class was generated from the following file:
