SimTK::MobilizedBody::Planar Class Reference

Three mobilities -- z rotation and x,y translation. More...

#include <MobilizedBody_Planar.h>

Inheritance diagram for SimTK::MobilizedBody::Planar:

List of all members.

Public Member Functions
	Planar ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Planar.
	Planar (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
	Create a Planar 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.
	Planar (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.
Planar &	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the new (outboard) body's reference frame B.
Planar &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Planar &	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.
Planar &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Planar &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.
Planar &	setDefaultAngle (Real a)
Planar &	setDefaultTranslation (const Vec2 &r)
Real	getDefaultAngle () const
const Vec2 &	getDefaultTranslation () const
void	setAngle (State &s, Real a)
void	setTranslation (State &s, const Vec2 &r)
Real	getAngle (const State &s) const
const Vec2 &	getTranslation (const State &s) const
const Vec3 &	getDefaultQ () const
Planar &	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

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Detailed Description

Three mobilities -- z rotation and x,y translation.

The generalized coordinates are rotation about the shared z axis of the F and M frame, translation along the F frame's x axis, and translation along its y axis, in that order.

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Planar::Planar

(

)

[inline]

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

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

Create a Planar 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::Planar::Planar	(	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.

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Member Function Documentation

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::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.

Planar& SimTK::MobilizedBody::Planar::setDefaultAngle

(

Real

a

)

[inline]

Planar& SimTK::MobilizedBody::Planar::setDefaultTranslation

(

const Vec2 &

r

)

[inline]

Real SimTK::MobilizedBody::Planar::getDefaultAngle

(

)

const [inline]

const Vec2& SimTK::MobilizedBody::Planar::getDefaultTranslation

(

)

const [inline]

void SimTK::MobilizedBody::Planar::setAngle	(	State &	s,
		Real	a
	)		[inline]

void SimTK::MobilizedBody::Planar::setTranslation	(	State &	s,
		const Vec2 &	r
	)		[inline]

Real SimTK::MobilizedBody::Planar::getAngle

(

const State &

s

)

const [inline]

const Vec2& SimTK::MobilizedBody::Planar::getTranslation

(

const State &

s

)

const [inline]

const Vec3& SimTK::MobilizedBody::Planar::getDefaultQ

(

)

const

Planar& SimTK::MobilizedBody::Planar::setDefaultQ

(

const Vec3 &

q

)

const Vec3& SimTK::MobilizedBody::Planar::getQ

(

const State &

)

const

const Vec3& SimTK::MobilizedBody::Planar::getQDot

(

const State &

)

const

const Vec3& SimTK::MobilizedBody::Planar::getQDotDot

(

const State &

)

const

const Vec3& SimTK::MobilizedBody::Planar::getU

(

const State &

)

const

const Vec3& SimTK::MobilizedBody::Planar::getUDot

(

const State &

)

const

void SimTK::MobilizedBody::Planar::setQ	(	State &	,
		const Vec3 &
	)		const

void SimTK::MobilizedBody::Planar::setU	(	State &	,
		const Vec3 &
	)		const

const Vec3& SimTK::MobilizedBody::Planar::getMyPartQ	(	const State &	,
		const Vector &	qlike
	)		const

const Vec3& SimTK::MobilizedBody::Planar::getMyPartU	(	const State &	,
		const Vector &	ulike
	)		const

Vec3& SimTK::MobilizedBody::Planar::updMyPartQ	(	const State &	,
		Vector &	qlike
	)		const

Vec3& SimTK::MobilizedBody::Planar::updMyPartU	(	const State &	,
		Vector &	ulike
	)		const

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

• MobilizedBody_Planar.h