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

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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 ~CylindricalJointR()

destructor

virtual void computeh(double time, BlockVector &q0, SiconosVector &y)
virtual void computehDoF(double time, BlockVector &q0, SiconosVector &y, unsigned int axis)

Compute the vector of linear and angular positions of the free axes.

virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)
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 computeV1V2FromAxis()
void Jd1(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13)
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)
virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Return

the number of constraints

virtual unsigned int numberOfDoF()

Return the number of degrees of freedom of this joint.

Return

the number of degrees of freedom (DoF)

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.

int twistCount()
virtual DoF_Type typeOfDoF(unsigned int axis)

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

Return

the type of the degree of freedom (DoF)

Protected Functions

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

ACCEPT_SERIALIZATION(CylindricalJointR)

serialization hooks

Protected Attributes

SP::SiconosVector _axis0

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

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

double _initialAngle
double _previousAngle
int _twistCount

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

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