# File mechanics/src/joints/CylindricalJointR.hpp#

Go to the source code of this file

class CylindricalJointR : public NewtonEulerJointR
#include <CylindricalJointR.hpp>

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

It is similar to a PrismaticJointR but allows for rotation around the axis.

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

CylindricalJointR()

Empty constructor.

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

CylindricalJointR(SP::SiconosVector P, SP::SiconosVector A, bool absoluteRef, SP::NewtonEulerDS d1 = SP::NewtonEulerDS(), SP::NewtonEulerDS d2 = SP::NewtonEulerDS())

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

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.

• A – SiconosVector of size 3 that defines the cylindrical axis.

• absoluteRef – if true, P and A are in the absolute frame, otherwise P and A are 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 computeV1V2FromAxis()#
inline int twistCount()#
inline virtual ~CylindricalJointR()

destructor

virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)#
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

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.

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.

void Jd1d2(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13, double X2, double Y2, double Z2, double q20, double q21, double q22, double q23)#
void Jd1(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13)#
inline virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Returns:

the number of constraints

inline virtual unsigned int numberOfDoF()

Return the number of degrees of freedom of this 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)

Protected Functions

ACCEPT_SERIALIZATION(CylindricalJointR)#
virtual void _normalDoF(SiconosVector &ans, const BlockVector &q0, int axis, bool absoluteRef = true)#

Return the normal of the angular DoF axis of rotation.

Parameters:

axis – must be 0

Protected Attributes

SP::SiconosVector _axis0#

Axis of the cylindrical point in the q1 frame of reference.

SP::SiconosVector _V1#

_V1 is an unit vector that is orthogonal to the cylindrical axis _axis0.

It forms with _V2 and _axis0 a base such that (_axis0,_V1,_v2) is an orthogonal frame

SP::SiconosVector _V2#

_V2 is an unit vector that is orthogonal to the cylindrical axis _axis0.

It forms with _V2 and _axis0 a base such that (_axis0,_V1,_v2) is an orthogonal frame

double _cq2q101#
double _cq2q102#
double _cq2q103#
double _cq2q104#
SP::SiconosVector _G1P0#

P is the point defining the location of the line created by _axis0.

It is stored in the q1 frame, i.e. the vector from initial G1 to P, called _G1P0.

SP::SiconosVector _G2P0#

_G2P0 is the vector from initial G1 to P

int _twistCount#

Cumulative number of twists around the joint relative to initial angular difference.

double _previousAngle#
double _initialAngle#