KneeJointR.hpp¶

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class KneeJointR : public NewtonEulerJointR

#include <>

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

Subclassed by PivotJointR

Public Functions

KneeJointR()

Empty constructor.

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

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

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

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.
absoluteRef – if true, P is in the absolute frame, otherwise P is in d1 frame.

inline virtual ~KneeJointR(): destructor

virtual void initialize(Interaction &inter)¶

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 checkInitPos(SP::SiconosVector q1, SP::SiconosVector q2): Perform some checks on the initial conditions.

inline virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Returns: the number of constraints

inline virtual unsigned int numberOfDoF()

Get the number of degrees of freedom defined in the 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)

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 computeDotJachq(double time, const BlockVector &workQ, BlockVector &workZ, const BlockVector &workQdot)¶

virtual void computeDotJachq(double time, SP::SiconosVector qdot1, SP::SiconosVector qdot2 = SP::SiconosVector())¶

inline SP::SiconosVector P()¶

Protected Functions

ACCEPT_SERIALIZATION(KneeJointR)¶

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)¶

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

virtual void DotJd1d2(double Xdot1, double Ydot1, double Zdot1, double qdot10, double qdot11, double qdot12, double qdot13, double Xdot2, double Ydot2, double Zdot2, double qdot20, double qdot21, double qdot22, double qdot23)¶

virtual void DotJd1(double Xdot1, double Ydot1, double Zdot1, double qdot10, double qdot11, double qdot12, double qdot13)¶

double Hx(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)¶

double Hy(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)¶

double Hz(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

SP::SiconosVector _P0¶: Coordinate of the knee point in the body frame of the first dynamical system _d1.

double _G1P0x¶

Absolute coodinates of the vector G1P0 when d1 is located in q=(0,0,0,1,0,0,0) i.e.

P0 in the body frame of d1. These values are computed when the constructor is called.

double _G1P0y¶

double _G1P0z¶

double _G2P0x¶

Absolute coodinates of the vector G2P0 when d2 is located in q=(0,0,0,1,0,0,0) i.e.

P0 in the body frame of d2. These values are computed when the constructor is called.

double _G2P0y¶

double _G2P0z¶