Class KneeJointR¶

class KneeJointR : public NewtonEulerJointR ¶

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

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.

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.

inline virtual unsigned int numberOfDoF()¶

Get the number of degrees of freedom defined in the joint.

inline virtual DoF_Type typeOfDoF(unsigned int axis)¶

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

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

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

Parameters