File mechanics/src/joints/FixedJointR.hpp

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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

FixedJointR()

Empty constructor.

The relation may be initialized later by setBasePositions.

FixedJointR(SP::NewtonEulerDS d1, SP::NewtonEulerDS d2 = SP::NewtonEulerDS())
virtual ~FixedJointR()

destructor

virtual void computeh(double time, BlockVector &q0, SiconosVector &y)
virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)
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.

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

ACCEPT_SERIALIZATION(FixedJointR)

serialization hooks

virtual void Jd1(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13)
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)

Protected Attributes

double _cq2q101
double _cq2q102
double _cq2q103
double _cq2q104
double _G10G20d1x
double _G10G20d1y
double _G10G20d1z