Three translational mobilities describing the Cartesian motion of a point. More...

#include <MobilizedBody_Translation.h>

Inheritance diagram for SimTK::MobilizedBody::Translation:

Public Member Functions
	Translation ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Translation.
	Translation (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
	Create a Translation 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.
	Translation (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.
Translation &	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the new (outboard) body's reference frame B.
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

Detailed Description

Three translational mobilities describing the Cartesian motion of a point.

The generalized coordinates q are x,y,z translations of the M (outboard) frame origin Mo along the parent (inboard) F frame axes. The generalized speeds u are the relative velocity v_FM of M's origin in F, so qdot=u for this mobilizer.

Constructor & Destructor Documentation

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

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

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

Create a Translation 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::Translation::Translation	(	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

Translation& SimTK::MobilizedBody::Translation::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.

Translation& SimTK::MobilizedBody::Translation::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.

Translation& SimTK::MobilizedBody::Translation::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.

Translation& SimTK::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 SimTK::MobilizedBody.

Translation& SimTK::MobilizedBody::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 SimTK::MobilizedBody.

Translation& SimTK::MobilizedBody::Translation::setDefaultTranslation ( const Vec3 & p_FM ) [inline]

const Vec3& SimTK::MobilizedBody::Translation::getDefaultTranslation ( ) const [inline]

void SimTK::MobilizedBody::Translation::setMobilizerTranslation	(	State &	s,
		const Vec3 &	p_FM
	)		const `[inline]`

const Vec3& SimTK::MobilizedBody::Translation::getMobilizerTranslation ( const State & s ) const [inline]

void SimTK::MobilizedBody::Translation::setMobilizerVelocity	(	State &	s,
		const Vec3 &	v_FM
	)		const `[inline]`

const Vec3& SimTK::MobilizedBody::Translation::getMobilizerVelocity ( const State & state ) const [inline]

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 SimTK::MobilizedBody.

const Vec3& SimTK::MobilizedBody::Translation::getMobilizerAcceleration ( const State & state ) 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 SimTK::MobilizedBody.

const Vec3& SimTK::MobilizedBody::Translation::getDefaultQ ( ) const

Translation& SimTK::MobilizedBody::Translation::setDefaultQ ( const Vec3 & q )

const Vec3& SimTK::MobilizedBody::Translation::getQ ( const State & ) const

const Vec3& SimTK::MobilizedBody::Translation::getQDot ( const State & ) const

const Vec3& SimTK::MobilizedBody::Translation::getQDotDot ( const State & ) const

const Vec3& SimTK::MobilizedBody::Translation::getU ( const State & ) const

const Vec3& SimTK::MobilizedBody::Translation::getUDot ( const State & ) const

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

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

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

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

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

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

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

MobilizedBody_Translation.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation