Class PrismaticJointR#
Defined in Program listing for file mechanics/src/joints/PrismaticJointR.hpp
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class PrismaticJointR : public NewtonEulerJointR#
This class implements a prismatic joint between one or two Newton/Euler Dynamical system.
From a given axis, we construct two unit othorgonal vectors to the axis V1 and V2 such that (axis,V1,V2) is an orthogonal frame
Public Functions
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PrismaticJointR()#
Empty constructor.
The relation may be initialized later by setPoint, setAbsolute, and setBasePositions.
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PrismaticJointR(SP::SiconosVector axis, bool absoluteRef, SP::NewtonEulerDS d1 = SP::NewtonEulerDS(), SP::NewtonEulerDS d2 = SP::NewtonEulerDS())#
Constructor based on one or two dynamical systems and an axis.
- Parameters:
d1 – first DynamicalSystem linked by the joint.
d2 – second DynamicalSystem linked by the joint, or NULL for absolute frame.
axis – SiconosVector of size 3 that defines the prismatic axis.
absoluteRef – if true, A is in the absolute frame, otherwise A is in d1 frame.
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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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virtual void computehDoF(double time, const BlockVector &q0, SiconosVector &y, unsigned int axis)#
Compute the vector of linear and angular positions of the free axes.
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virtual void computeJachqDoF(double time, Interaction &inter, SP::BlockVector q0, SimpleMatrix &jachq, unsigned int axis)#
Compute the jacobian of linear and angular DoF with respect to some q.
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inline virtual ~PrismaticJointR()#
destructor
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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 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()#
Return the number of degrees of freedom of this 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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PrismaticJointR()#