Translation Class Reference
Three translational mobilities. More...
#include <MobilizedBody.h>
Public Member Functions | |
| Translation (Direction=Forward) | |
| Translation (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. | |
| Translation (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. | |
| Translation & | 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. | |
| Translation & | addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g) |
| Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B. | |
| Translation & | 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. | |
| Translation & | setDefaultInboardFrame (const Transform &X_PF) |
| Change this mobilizer's frame F on the parent body P. | |
| Translation & | setDefaultOutboardFrame (const Transform &X_BM) |
| Change this mobilizer's frame M fixed on this (the outboard) body B. | |
| Translation & | setDefaultTranslation (const Vec3 &p_FM) |
| const Vec3 & | getDefaultTranslation () const |
| void | setMobilizerTranslation (State &s, const Vec3 &p_FM) const |
| const Vec3 & | getMobilizerTranslation (const State &s) const |
| void | setMobilizerVelocity (State &s, const Vec3 &v_FM) const |
| const Vec3 & | getMobilizerVelocity (const State &s) const |
| At stage Velocity or higher, return the cross-mobilizer velocity V_FM, the relative velocity of this body's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F. | |
| const Vec3 & | getMobilizerAcceleration (const State &s) const |
| TODO: Not implemented yet -- any volunteers? At stage Acceleration, return the cross-mobilizer acceleration A_FM, the relative acceleration of body B's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F. | |
| const Vec3 & | getDefaultQ () const |
| Translation & | setDefaultQ (const Vec3 &q) |
| const Vec3 & | getQ (const State &) const |
| const Vec3 & | getQDot (const State &) const |
| const Vec3 & | getQDotDot (const State &) const |
| const Vec3 & | getU (const State &) const |
| const Vec3 & | getUDot (const State &) const |
| void | setQ (State &, const Vec3 &) const |
| void | setU (State &, const Vec3 &) const |
| const Vec3 & | getMyPartQ (const State &, const Vector &qlike) const |
| const Vec3 & | getMyPartU (const State &, const Vector &ulike) const |
| Vec3 & | updMyPartQ (const State &, Vector &qlike) const |
| Vec3 & | updMyPartU (const State &, Vector &ulike) const |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Translation, TranslationImpl, MobilizedBody) | |
Detailed Description
Three translational mobilities.
The generalized coordinates are x,y,z translations along the parent (inboard) F frame axes.
Constructor & Destructor Documentation
| Translation | ( | Direction | = Forward |
) | [explicit] |
| Translation | ( | 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.
| Translation | ( | 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
| Translation& 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().
| Translation& 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().
| Translation& 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 Vec3& getDefaultQ | ( | ) | const |
| const Vec3& getDefaultTranslation | ( | ) | const [inline] |
TODO: Not implemented yet -- any volunteers? At stage Acceleration, return the cross-mobilizer acceleration A_FM, the relative acceleration of body B's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F.
Note that this isn't the usual spatial acceleration since it isn't expressed in G.
Reimplemented from MobilizedBody.
At stage Velocity or higher, return the cross-mobilizer velocity V_FM, the relative velocity of this body's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F.
Note that this isn't the usual spatial velocity since it isn't expressed in G.
Reimplemented from MobilizedBody.
| Translation& setDefaultInboardFrame | ( | const Transform & | X_PF | ) | [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().
| Translation& setDefaultOutboardFrame | ( | const Transform & | X_BM | ) | [inline] |
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().
| Translation& setDefaultQ | ( | const Vec3 & | q | ) |
| Translation& setDefaultTranslation | ( | const Vec3 & | p_FM | ) | [inline] |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | Translation | , | |
| TranslationImpl | , | |||
| MobilizedBody | ||||
| ) |
The documentation for this class was generated from the following file:
