This non-holonomic Motion object imposes a constant rate on all mobilities. More...

#include <Motion.h>

Inheritance diagram for SimTK::Motion::Steady:

Public Member Functions
	Steady (MobilizedBody &mobod, Real u)
	Create a Motion::Steady where all mobilities have the same velocity.
template<int N>
	Steady (MobilizedBody &mobod, const Vec< N > &u)
	Create a Motion::Steady with different velocities for each mobility specified.
	Steady ()
	Default constructor creates an empty handle than can be assigned to reference any Motion::Steady object.
Steady &	setDefaultRate (Real u)
	Change the default rate this Motion will prescribe unless overridden in a particular State.
Steady &	setOneDefaultRate (MobilizerUIndex, Real u)
	Change the default rate this Motion will prescribe for one mobility, unless overridden in a particular State.
template<int N>
Steady &	setDefaultRates (const Vec< N > &u)
	Change the default rates this Motion will prescribe, supplying separate rates for each mobility as a Vec<N>.
Real	getOneDefaultRate (MobilizerUIndex ux) const
	Get the default rate setting for one mobility.
void	setRate (State &state, Real u) const
	Change the rate to be prescribed by this Motion when used with the given State.
void	setOneRate (State &state, MobilizerUIndex ux, Real u) const
	Change the rate this Motion will prescribe for one mobility when used with the given State.
Real	getOneRate (const State &state, MobilizerUIndex ux) const
	Get the rate setting for one mobility.

Detailed Description

This non-holonomic Motion object imposes a constant rate on all mobilities.

Constructor & Destructor Documentation

Create a Motion::Steady where all mobilities have the same velocity.

Parameters:

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rate to be applied to all mobilities

template<int N>

Create a Motion::Steady with different velocities for each mobility specified.

Any unspecified mobilities will get zero velocity.

Parameters:

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rates to be applied to the first N mobilities; the rest are set to zero

SimTK::Motion::Steady::Steady ( ) [inline]

Default constructor creates an empty handle than can be assigned to reference any Motion::Steady object.

Steady& SimTK::Motion::Steady::setDefaultRate ( Real u )

Change the default rate this Motion will prescribe unless overridden in a particular State.

All mobilities will use this same rate.

Steady& SimTK::Motion::Steady::setOneDefaultRate	(	MobilizerUIndex	,
		Real	u
	)

Change the default rate this Motion will prescribe for one mobility, unless overridden in a particular State.

Rates for the other mobilities (if there is more than one) remain unchanged.

template<int N>

Steady& SimTK::Motion::Steady::setDefaultRates ( const Vec< N > & u )

Change the default rates this Motion will prescribe, supplying separate rates for each mobility as a Vec<N>.

Real SimTK::Motion::Steady::getOneDefaultRate ( MobilizerUIndex ux ) const

Get the default rate setting for one mobility.

void SimTK::Motion::Steady::setRate	(	State &	state,
		Real	u
	)		const

Change the rate to be prescribed by this Motion when used with the given State.

All mobilities will use this same rate.

void SimTK::Motion::Steady::setOneRate	(	State &	state,
		MobilizerUIndex	ux,
		Real	u
	)		const

Change the rate this Motion will prescribe for one mobility when used with the given State.

Rates for the other mobilities (if there is more than one) remain unchanged.

Real SimTK::Motion::Steady::getOneRate	(	const State &	state,
		MobilizerUIndex	ux
	)		const

Get the rate setting for one mobility.

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