Class FixedJointR

Defined in Program listing for file mechanics/src/joints/FixedJointR.hpp

class FixedJointR : public NewtonEulerJointR

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

Public Functions

inline FixedJointR()

Empty constructor.

The relation may be initialized later by setBasePositions.

FixedJointR(SP::NewtonEulerDS d1, SP::NewtonEulerDS d2 = SP::NewtonEulerDS())

constructor,

Parameters:

• a – SP::NewtonEulerDS d1, a dynamical system containing the initial position

• a – SP::NewtonEulerDS d2, a dynamical system containing the initial position

inline virtual ~FixedJointR()

destructor

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.

inline virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Returns:

the number of constraints

virtual void computeh(double time, const BlockVector &q0, SiconosVector &y)

to compute the output y = h(t,q,z) of the Relation

Parameters:

• time – current time value

• q – coordinates of the dynamical systems involved in the relation

• y – the resulting vector

inline virtual unsigned int numberOfDoF()

Return the number of degrees of freedom of this joint.

Returns:

the number of degrees of freedom (DoF)

inline virtual DoF_Type typeOfDoF(unsigned int axis)

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

Returns:

the type of the degree of freedom (DoF)