SimTK::MobilizedBody::Screw Class Reference

One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames. More...

#include <MobilizedBody_Screw.h>

Inheritance diagram for SimTK::MobilizedBody::Screw:

List of all members.

Public Member Functions
	Screw ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Screw.
	Screw (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real pitch, Direction=Forward)
	Create a Screw 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.
	Screw (MobilizedBody &parent, const Body &bodyInfo, Real pitch, Direction=Forward)
	Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child 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.
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

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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.

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Screw::Screw

(

)

[inline]

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

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

Create a Screw 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::Screw::Screw	(	MobilizedBody &	parent,
		const Body &	bodyInfo,
		Real	pitch,
		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

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::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.

Screw& SimTK::MobilizedBody::Screw::setDefaultPitch

(

Real

pitch

)

Real SimTK::MobilizedBody::Screw::getDefaultPitch

(

)

const

Screw& SimTK::MobilizedBody::Screw::setDefaultQ

(

Real

)

Real SimTK::MobilizedBody::Screw::getDefaultQ

(

)

const

Real SimTK::MobilizedBody::Screw::getQ

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getQDot

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getQDotDot

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getU

(

const State &

)

const

Real SimTK::MobilizedBody::Screw::getUDot

(

const State &

)

const

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

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

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

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

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

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

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

• MobilizedBody_Screw.h