File mechanics/src/joints/PrismaticJointR.hpp

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class PrismaticJointR : public NewtonEulerJointR
#include <PrismaticJointR.hpp>

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

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

PrismaticJointR()

Empty constructor.

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

PrismaticJointR(SP::SiconosVector axis, bool absoluteRef, SP::NewtonEulerDS d1 = SP::NewtonEulerDS(), SP::NewtonEulerDS d2 = SP::NewtonEulerDS())

Constructor based on one or two dynamical systems and an axis.

Parameters
  • d1: first DynamicalSystem linked by the joint.
  • d2: second DynamicalSystem linked by the joint, or NULL for absolute frame.
  • axis: SiconosVector of size 3 that defines the prismatic axis.
  • absoluteRef: if true, A is in the absolute frame, otherwise A is in d1 frame.

virtual ~PrismaticJointR()

destructor

virtual void computeDotJachq(double time, BlockVector &workQ, BlockVector &workZ, BlockVector &workQdot)
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 displayInitialPosition()
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)
void DotJd2(double Xdot1, double Ydot1, double Zdot1, double qdot10, double qdot11, double qdot12, double qdot13, double X2, double Y2, double Z2, double qdot20, double qdot21, double qdot22, double qdot23)
double H1(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 H2(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 H3(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 H4(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 H5(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)
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.

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 linear DoF axis.

Parameters
  • ans:
  • q0:
  • axis: must be 0
  • absoluteRef:

ACCEPT_SERIALIZATION(PrismaticJointR)

serialization hooks

Protected Attributes

SP::SiconosVector _axis0

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

double _cq2q101
double _cq2q102
double _cq2q103
double _cq2q104
double _G10G20d1x
double _G10G20d1y
double _G10G20d1z
SP::SiconosVector _V1

_V1 is an unit vector that is orthogonal to the prismatic axis _axis0.

It forms with _V2 and _axis0 a base such that (_axis0,_V1,_v2) is an orthogonal frame

double _V1x

Convenient storage of the components of _V1 and _V2.

double _V1y
double _V1z
SP::SiconosVector _V2

_V2 is an unit vector that is orthogonal to the prismatic axis _axis0.

It forms with _V2 and _axis0 a base such that (_axis0,_V1,_v2) is an orthogonal frame

double _V2x
double _V2y
double _V2z