# Class FixedJointR¶

class FixedJointR : public NewtonEulerJointR

This class implements a fixed joint between one or two Newton/Euler Dynamical system.

Public Functions

FixedJointR()

Empty constructor.

The relation may be initialized later by setBasePositions.

virtual ~FixedJointR()

destructor

virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Return
the number of constraints

virtual unsigned int numberOfDoF()

Return the number of degrees of freedom of this joint.

Return
the number of degrees of freedom (DoF)

virtual void setBasePositions(SP::SiconosVector q1, SP::SiconosVector q2 = SP::SiconosVector())

Initialize the joint constants based on the provided base positions.

Parameters
• q1: A SiconosVector of size 7 indicating translation and orientation in inertial coordinates.
• q2: An optional SiconosVector of size 7 indicating translation and orientation; if null, the inertial frame will be considered as the second base.

virtual DoF_Type typeOfDoF(unsigned int axis)

Return the type of a degree of freedom of this joint.

Return
the type of the degree of freedom (DoF)