Class KneeJointR#
Defined in Program listing for file mechanics/src/joints/KneeJointR.hpp
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class KneeJointR : public NewtonEulerJointR#
This class implements a knee joint between one or two Newton/Euler Dynamical system.
Subclassed by PivotJointR
Public Functions
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KneeJointR()#
Empty constructor.
The relation may be initialized later by setPoint, setAbsolute, and setBasePositions.
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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.
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inline virtual ~KneeJointR()#
destructor
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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.
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void checkInitPos(SP::SiconosVector q1, SP::SiconosVector q2)#
Perform some checks on the initial conditions.
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inline virtual unsigned int numberOfConstraints()#
Get the number of constraints defined in the joint.
- Returns:
the number of constraints
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inline virtual unsigned int numberOfDoF()#
Get the number of degrees of freedom defined in the joint.
- Returns:
the number of degrees of freedom (DoF)
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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)
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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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KneeJointR()#