siconos.mechanics.joints.FixedJointR (Python class)

class siconos.mechanics.joints.FixedJointR(*args)[source]

Bases: siconos.mechanics.joints.NewtonEulerJointR

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

Generated class (swig), based on C++ header Program listing for file mechanics/src/joints/FixedJointR.hpp.

Constructors

FixedJointR()

Empty constructor.

The relation may be initialized later by setBasePositions.

FixedJointR(NewtonEulerDS d1, NewtonEulerDS d2=NewtonEulerDS())
computeJachq(double time, Interaction inter, BlockVector q0) → None[source]
computeh(double time, BlockVector q0, array_like (np.float64, 1D) y) → None[source]
numberOfConstraints() → int[source]

Get the number of constraints defined in the joint.

Returns:the number of constraints
numberOfDoF() → int[source]

Return the number of degrees of freedom of this joint.

Returns:the number of degrees of freedom (DoF)
setBasePositions(array_like (np.float64, 1D) q1, array_like (np.float64, 1D) q2=array_like (np.float64, 1D)()) → None[source]

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.
typeOfDoF(int axis) → DoF_Type[source]

Return the type of a degree of freedom of this joint.

Returns:the type of the degree of freedom (DoF)