File mechanics/src/joints/FixedJointR.hpp#
Go to the source code of this file
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class FixedJointR : public NewtonEulerJointR
- #include <FixedJointR.hpp>
This class implements a fixed joint between one or two Newton/Euler Dynamical system.
Public Functions
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inline FixedJointR()
Empty constructor.
The relation may be initialized later by setBasePositions.
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FixedJointR(SP::NewtonEulerDS d1, SP::NewtonEulerDS d2 = SP::NewtonEulerDS())
constructor,
- Parameters:
a – SP::NewtonEulerDS d1, a dynamical system containing the initial position
a – SP::NewtonEulerDS d2, a dynamical system containing the initial position
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inline virtual ~FixedJointR()
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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inline virtual unsigned int numberOfConstraints()
Get the number of constraints defined in the joint.
- Returns:
the number of constraints
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virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)#
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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 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)
Protected Functions
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ACCEPT_SERIALIZATION(FixedJointR)#
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virtual 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)#
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virtual void Jd1(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13)#
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inline FixedJointR()