Zero mobilities. More...

#include <MobilizedBody_Weld.h>

Inheritance diagram for SimTK::MobilizedBody::Weld:

Public Member Functions
	Weld ()
	Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Weld.
	Weld (MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM)
	Create a Weld 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.
	Weld (MobilizedBody &parent, const Body &bodyInfo)
	Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child body frames.
Weld &	addBodyDecoration (const Transform &X_BD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the new (outboard) body's reference frame B.
Weld &	addOutboardDecoration (const Transform &X_MD, const DecorativeGeometry &g)
	Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B.
Weld &	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.
Weld &	setDefaultInboardFrame (const Transform &X_PF)
	Change this mobilizer's frame F on the parent body P.
Weld &	setDefaultOutboardFrame (const Transform &X_BM)
	Change this mobilizer's frame M fixed on this (the outboard) body B.

Detailed Description

Zero mobilities.

This degenerate "mobilizer" serves only to weld together the M frame of a body to the F frame on its parent. It has no generalized coordinates or speeds. Note that there is no "reverse" weld, because "reverse" for a mobilizer refers to how the q's and u's are defined and there are none.

You can use this (im)mobilizer to create a composite rigid body from simpler rigid bodies. Although the effect is as though the bodies were combined, they are still tracked separately so per-body information remains available. You can also get the reaction force at the weld in the usual manner.

Constructor & Destructor Documentation

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

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

SimTK::MobilizedBody::Weld::Weld	(	MobilizedBody &	parent,
		const Transform &	X_PF,
		const Body &	bodyInfo,
		const Transform &	X_BM
	)

Create a Weld 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::Weld::Weld	(	MobilizedBody &	parent,
		const Body &	bodyInfo
	)

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

Member Function Documentation

Weld& SimTK::MobilizedBody::Weld::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.

Weld& SimTK::MobilizedBody::Weld::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.

Weld& SimTK::MobilizedBody::Weld::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.

Weld& SimTK::MobilizedBody::Weld::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.

Weld& SimTK::MobilizedBody::Weld::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_Weld.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation