File mechanics/src/joints/KneeJointR.hpp#
Go to the source code of this file
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class KneeJointR : public NewtonEulerJointR
- #include <KneeJointR.hpp>
This class implements a knee joint between one or two Newton/Euler Dynamical system.
Subclassed by PivotJointR
Public Functions
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KneeJointR()
Empty constructor.
The relation may be initialized later by setPoint, setAbsolute, and setBasePositions.
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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.
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inline virtual ~KneeJointR()
destructor
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virtual void initialize(Interaction &inter)#
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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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void checkInitPos(SP::SiconosVector q1, SP::SiconosVector q2)
Perform some checks on the initial conditions.
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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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inline virtual unsigned int numberOfDoF()
Get the number of degrees of freedom defined in the 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)
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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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virtual void computeDotJachq(double time, const BlockVector &workQ, BlockVector &workZ, const BlockVector &workQdot)#
Protected Functions
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ACCEPT_SERIALIZATION(KneeJointR)#
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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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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)#
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virtual void DotJd1(double Xdot1, double Ydot1, double Zdot1, double qdot10, double qdot11, double qdot12, double qdot13)#
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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)#
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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)#
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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
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SP::SiconosVector _P0#
Coordinate of the knee point in the body frame of the first dynamical system _d1.
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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.
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double _G1P0y#
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double _G1P0z#
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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.
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double _G2P0y#
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double _G2P0z#
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KneeJointR()