Class KneeJointR#

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

class KneeJointR : public NewtonEulerJointR#

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

Subclassed by PivotJointR

Public Functions

KneeJointR()#

Empty constructor.

The relation may be initialized later by setPoint, setAbsolute, and setBasePositions.

KneeJointR(SP::SiconosVector P, bool absoluteRef, SP::NewtonEulerDS d1 = SP::NewtonEulerDS(), SP::NewtonEulerDS d2 = SP::NewtonEulerDS())#

Constructor based on one or two dynamical systems and a point.

Parameters:
  • d1 – first DynamicalSystem linked by the joint.

  • d2 – second DynamicalSystem linked by the joint, or NULL for absolute frame.

  • P – SiconosVector of size 3 that defines the point around which rotation is allowed.

  • absoluteRef – if true, P is in the absolute frame, otherwise P is in d1 frame.

inline virtual ~KneeJointR()#

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.

void checkInitPos(SP::SiconosVector q1, SP::SiconosVector q2)#

Perform some checks on the initial conditions.

inline virtual unsigned int numberOfConstraints()#

Get the number of constraints defined in the joint.

Returns:

the number of constraints

inline virtual unsigned int numberOfDoF()#

Get the number of degrees of freedom defined in the 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)

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