Class JointStopR#
Defined in Program listing for file mechanics/src/joints/JointStopR.hpp
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class JointStopR : public NewtonEulerR#
This class implements a stop on a DoF for any NewtonEulerJointR.
Public Functions
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JointStopR(SP::NewtonEulerJointR joint, double pos, bool dir, unsigned int axis = 0)#
Initialize a joint stop for a common case: a single axis with a single stop, either positive or negative.
For use with NewtonImpactNSL.
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JointStopR(SP::NewtonEulerJointR joint, SP::SiconosVector pos, SP::SiconosVector dir, SP::UnsignedIntVector axes)#
Initialize a multidimensional joint stop, e.g.
the cone stop on a ball joint. For use with NewtonImpactFrictionNSL size 2 or 3.
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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
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inline unsigned int axis(unsigned int _index)#
Return the joint axis number assigned to a stop index.
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inline double position(unsigned int _index)#
Return the joint position assigned to a stop index.
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inline double direction(unsigned int _index)#
Return the direction (1 or -1) assigned to a stop index.
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inline unsigned int numberOfAxes()#
Return the number of joint axes indexed by this relation.
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inline virtual ~JointStopR()#
destructor
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JointStopR(SP::NewtonEulerJointR joint, double pos, bool dir, unsigned int axis = 0)#