Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer. More...

#include <MobilizedBody_Pin.h>

Inheritance diagram for SimTK::MobilizedBody::Pin:

Public Member Functions
	Pin ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pin.
	Pin (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
	Create a Pin mobilizer between an existing parent (inboard) body P and a new child (outboard) body B created by copying the given bodyInfo into a privately-owned Body within the constructed MobilizedBody object.
	Pin (MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
	Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child body frames.
Pin &	setDefaultAngle (Real angleInRad)
	Set the value that the pin angle should have in the default state.
Real	getDefaultAngle () const
	Get the value that the pin angle will have in the default state.
void	setAngle (State &s, Real angleInRad)
	Set the pin joint angle (generalized coordinate q) in the given state.
Real	getAngle (const State &s) const
	Get the value that this pin joint's angular coordinate has in the given state.
void	setRate (State &s, Real rateInRadPerTime)
	Set the rotation rate (generalized speed u) for this pin joint in the given state.
Real	getRate (const State &s) const
	Get the current rotation rate (generalized speed u) that this pin mobilizer has in the given state.
Real	getAppliedPinTorque (const State &s, const Vector &mobilityForces) const
	Get the generalized force corresponding to this pin mobilizer in the given array of mobility forces.
void	applyPinTorque (const State &s, Real torque, Vector &mobilityForces) const
	Add in a torque to the generalized force element corresponding to this pin mobilizer in the given array of mobility forces.
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.
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.

Detailed Description

Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer.

If you want rotation about a different direction, rotate the F and M frames when you define the mobilized body, so that the z axes are in the desired direction.

The single generalized coordinate q is the rotation angle in radians, and the generalized speed u is the rotation rate in radians/time unit, with qdot=u.

Synonyms: Torsion, Revolute.

Constructor & Destructor Documentation

SimTK::MobilizedBody::Pin::Pin ( ) [inline]

Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pin.

SimTK::MobilizedBody::Pin::Pin	(	MobilizedBody &	parent,
		const Transform &	X_PF,
		const Body &	bodyInfo,
		const Transform &	X_BM,
		Direction	= `Forward`
	)

Create a Pin mobilizer between an existing parent (inboard) body P and a new child (outboard) body B created by copying the given bodyInfo into a privately-owned Body within the constructed MobilizedBody object.

Specify the mobilizer frames F fixed to parent P and M fixed to child B.

See also:: MobilizedBody for a diagram and explanation of terminology.

SimTK::MobilizedBody::Pin::Pin	(	MobilizedBody &	parent,
		const Body &	bodyInfo,
		Direction	= `Forward`
	)

Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child body frames.

Member Function Documentation

Pin& SimTK::MobilizedBody::Pin::setDefaultAngle ( Real angleInRad ) [inline]

Set the value that the pin angle should have in the default state.

If unspecified the initial angle will be zero.

Real SimTK::MobilizedBody::Pin::getDefaultAngle ( ) const [inline]

Get the value that the pin angle will have in the default state.

void SimTK::MobilizedBody::Pin::setAngle	(	State &	s,
		Real	angleInRad
	)		`[inline]`

Set the pin joint angle (generalized coordinate q) in the given state.

The angle is in radians.

Real SimTK::MobilizedBody::Pin::getAngle ( const State & s ) const [inline]

Get the value that this pin joint's angular coordinate has in the given state.

The result is in radians.

void SimTK::MobilizedBody::Pin::setRate	(	State &	s,
		Real	rateInRadPerTime
	)		`[inline]`

Set the rotation rate (generalized speed u) for this pin joint in the given state.

The rate is in radians/time unit.

Real SimTK::MobilizedBody::Pin::getRate ( const State & s ) const [inline]

Get the current rotation rate (generalized speed u) that this pin mobilizer has in the given state.

The rate is in radians/time unit.

Real SimTK::MobilizedBody::Pin::getAppliedPinTorque	(	const State &	s,
		const Vector &	mobilityForces
	)		const `[inline]`

Get the generalized force corresponding to this pin mobilizer in the given array of mobility forces.

void SimTK::MobilizedBody::Pin::applyPinTorque	(	const State &	s,
		Real	torque,
		Vector &	mobilityForces
	)		const `[inline]`

Add in a torque to the generalized force element corresponding to this pin mobilizer in the given array of mobility forces.

Pin& SimTK::MobilizedBody::Pin::setDefaultQ ( Real )

Real SimTK::MobilizedBody::Pin::getDefaultQ ( ) const

Real SimTK::MobilizedBody::Pin::getQ ( const State & ) const

Real SimTK::MobilizedBody::Pin::getQDot ( const State & ) const

Real SimTK::MobilizedBody::Pin::getQDotDot ( const State & ) const

Real SimTK::MobilizedBody::Pin::getU ( const State & ) const

Real SimTK::MobilizedBody::Pin::getUDot ( const State & ) const

void SimTK::MobilizedBody::Pin::setQ	(	State &	,
		Real
	)		const

void SimTK::MobilizedBody::Pin::setU	(	State &	,
		Real
	)		const

Real SimTK::MobilizedBody::Pin::getMyPartQ	(	const State &	,
		const Vector &	qlike
	)		const

Real SimTK::MobilizedBody::Pin::getMyPartU	(	const State &	,
		const Vector &	ulike
	)		const

Real& SimTK::MobilizedBody::Pin::updMyPartQ	(	const State &	,
		Vector &	qlike
	)		const

Real& SimTK::MobilizedBody::Pin::updMyPartU	(	const State &	,
		Vector &	ulike
	)		const

Pin& SimTK::MobilizedBody::Pin::addBodyDecoration	(	const Transform &	X_BD,
		const DecorativeGeometry &	geometry
	)		`[inline]`

Add decorative geometry specified relative to the new (outboard) body's reference frame B.

Note that the body itself may already have had some decorative geometry on it when it was first put into this MobilizedBody; this just adds more and the returned index is larger. Use the underlying Body object's accessors to find this decorative geometry again. The given geometry object is copied here; we do not keep a reference to the supplied object.

Reimplemented from SimTK::MobilizedBody.

Pin& SimTK::MobilizedBody::Pin::addOutboardDecoration	(	const Transform &	X_MD,
		const DecorativeGeometry &	geometry
	)		`[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, but kept in a separate list from the body decorations and inboard decorations. Returns a unique index that can be used to identify this outboard decoration later (numbered starting from zero for outboard decorations only).

Reimplemented from SimTK::MobilizedBody.

Pin& SimTK::MobilizedBody::Pin::addInboardDecoration	(	const Transform &	X_FD,
		const DecorativeGeometry &	geometry
	)		`[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, but kept in a separate list from the body decorations and outboard decorations. Returns a unique index that can be used to identify this inboard decoration later (numbered starting from zero for inboard decorations only).

Reimplemented from SimTK::MobilizedBody.

Pin& SimTK::MobilizedBody::Pin::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 SimTK::MobilizedBody.

Pin& SimTK::MobilizedBody::Pin::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 SimTK::MobilizedBody.

The documentation for this class was generated from the following file:

MobilizedBody_Pin.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation