Hi Sherm,
What is the easiest way to obtain the H matrix in equation 5.2 described in the
Simbody theory manual ? I am looking only at coarse grained RNA applications
and expect just the regular joint types (free, rigid, revolute, spherical).
The method i used previously was to call the function
matter.getRep().getRigidBodyNode().getDOF() and use a simple switch statement
to generate the required H matrix. However, I also had built all the libraries
from source. I am right now working just with the Simtk2.0 core (its difficult to
build from source and I would like to use some machines in the lab rather than abuse my laptop for longer simulations.). As i understand it, with Simtk2.0 core, i would not have access to the functions declared in RigidBodyNode.h, is that right ? If yes, what are my options ?
Thanks,
Kishor Bhalerao
Joint motion map
- Michael Sherman
- Posts: 806
- Joined: Fri Apr 01, 2005 6:05 pm
RE: Joint motion map
Hi, Kishor.
I think you might like this MobilizedBody method:
/// Expert use only: obtain a column of the hinge matrix H corresponding to
/// one of this mobilizer's mobilities.
SpatialVec getHCol(const State& s, UIndex ux) const;
It returns a column of the H matrix; call it once for each mobility of the joint (after you have set q's and realize(Position).
Regards,
Sherm
I think you might like this MobilizedBody method:
/// Expert use only: obtain a column of the hinge matrix H corresponding to
/// one of this mobilizer's mobilities.
SpatialVec getHCol(const State& s, UIndex ux) const;
It returns a column of the H matrix; call it once for each mobility of the joint (after you have set q's and realize(Position).
Regards,
Sherm
- Kishor Bhalerao
- Posts: 21
- Joined: Thu Mar 13, 2008 12:52 pm
RE: Joint motion map
Hi Sherm,
I tried using getHCol() and it works out fine for my current purposes.
Thanks,
Kishor.
I tried using getHCol() and it works out fine for my current purposes.
Thanks,
Kishor.