Screw Class Reference
One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames. More...
#include <MobilizedBody.h>
Public Member Functions | |
| Screw (Real pitch, Direction=Forward) | |
| Screw (MobilizedBody &parent, const Body &, Real pitch, Direction=Forward) | |
| By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp. | |
| Screw (MobilizedBody &parent, const Transform &inbFrame, const Body &, const Transform &outbFrame, Real pitch, Direction=Forward) | |
| Use this constructor to specify mobilizer frames which are not coincident with the body frames. | |
| Screw & | 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. | |
| Screw & | addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. | |
| Screw & | 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. | |
| Screw & | setDefaultInboardFrame (const Transform &X_PF) |
| Change this mobilizer's frame F on the parent body P. | |
| Screw & | setDefaultOutboardFrame (const Transform &X_BM) |
| Change this mobilizer's frame M fixed on this (the outboard) body B. | |
| Screw & | setDefaultPitch (Real pitch) |
| Real | getDefaultPitch () const |
| Screw & | 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 |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Screw, ScrewImpl, MobilizedBody) | |
Detailed Description
One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames.
A "pitch" is specified relating the two. The generalized coordinate q is the rotation angle in radians, the translation is always pitch*q.
Constructor & Destructor Documentation
| Screw | ( | MobilizedBody & | parent, | |
| const Body & | , | |||
| Real | pitch, | |||
| Direction | = Forward | |||
| ) |
By default the parent body frame and the body's own frame are used as the inboard and outboard mobilizer frames, resp.
| Screw | ( | MobilizedBody & | parent, | |
| const Transform & | inbFrame, | |||
| const Body & | , | |||
| const Transform & | outbFrame, | |||
| Real | pitch, | |||
| Direction | = Forward | |||
| ) |
Use this constructor to specify mobilizer frames which are not coincident with the body frames.
Member Function Documentation
| Screw& 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().
| Screw& 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().
| Screw& 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 getDefaultPitch | ( | ) | const |
| 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 |
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().
| Screw& setDefaultPitch | ( | Real | pitch | ) |
| Screw& setDefaultQ | ( | Real | ) |
| void setQ | ( | State & | , | |
| Real | ||||
| ) | const |
| void setU | ( | State & | , | |
| Real | ||||
| ) | const |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | Screw | , | |
| ScrewImpl | , | |||
| MobilizedBody | ||||
| ) |
The documentation for this class was generated from the following file:
