MOMENTUM_NAMESPACE::CylindricalJoint Class Reference

#include <CylindricalJoint.h>

Public Types
enum	DegreeOfFreedom { X , Y , Z }

Public Member Functions
std::shared_ptr< BallJoint >	asBallJoint ()
std::shared_ptr< CylindricalJoint >	asCylindricalJoint ()
std::shared_ptr< HingeJoint >	asHingeJoint ()
std::shared_ptr< LockJoint >	asLockJoint ()
std::shared_ptr< PrismaticJoint >	asPrismaticJoint ()
std::shared_ptr< SpringJoint >	asSpringJoint ()
double	getAngle () const
std::shared_ptr< FrictionController >	getAngularFrictionController ()
std::shared_ptr< AngularMotor >	getAngularMotor () const
std::shared_ptr< AngularRange >	getAngularRange () const
std::shared_ptr< AngularSpring >	getAngularSpring () const
std::shared_ptr< RigidBody >	getBody (int body) const
Vec3	getBodyForce (int body) const
Vec3	getBodyTorque (int body) const
double	getCurrentAngularSpeed () const
double	getCurrentLinearSpeed () const
bool	getEnabled () const
std::shared_ptr< FrictionController >	getLinearFrictionController ()
std::shared_ptr< LinearMotor >	getLinearMotor () const
std::shared_ptr< LinearRange >	getLinearRange () const
std::shared_ptr< LinearSpring >	getLinearSpring () const
std::string	getName () const
double	getPosition () const
double	getRotationalDamping (DegreeOfFreedom dof) const
double	getRotationalElasticity (DegreeOfFreedom dof) const
std::shared_ptr< Screw1D >	getScrew1D () const
AffineMatrix4x4	getTransformation (int body) const
double	getTranslationalDamping (DegreeOfFreedom dof) const
double	getTranslationalElasticity (DegreeOfFreedom dof) const
bool	operator== (const Joint &other) const
void	setEnabled (bool enabled)
void	setRotationalDamping (DegreeOfFreedom dof, double damping)
void	setRotationalElasticity (DegreeOfFreedom dof, double elasticity)
void	setTransformation (int body, const AffineMatrix4x4 &transform)
void	setTranslationalDamping (DegreeOfFreedom dof, double damping)
void	setTranslationalElasticity (DegreeOfFreedom dof, double elasticity)

Protected Member Functions
virtual int	getAgxRotationalDOF (Joint::DegreeOfFreedom dof) const
virtual int	getAgxTranslationalDOF (Joint::DegreeOfFreedom dof) const
agx::Real	getDampingInternal (int agxDOF) const
void	setDampingInternal (int agxDOF, double damping)

Detailed Description

The cylindrical joint class, a joint where the translational and rotational z-axis is unconstrained.

Member Enumeration Documentation

DegreeOfFreedom

enum MOMENTUM_NAMESPACE::Joint::DegreeOfFreedom

inherited

Enumerator
X
Y
Z

Member Function Documentation

asBallJoint()

std::shared_ptr< BallJoint > MOMENTUM_NAMESPACE::Joint::asBallJoint ( )

inherited

Returns

a reference to the joint as a BallJoint if it is a BallJoint, otherwise nullptr will be returned

asCylindricalJoint()

std::shared_ptr< CylindricalJoint > MOMENTUM_NAMESPACE::Joint::asCylindricalJoint ( )

inherited

Returns

a reference to the joint as a CylindricalJoint if it is a CylindricalJoint, otherwise nullptr will be returned

asHingeJoint()

std::shared_ptr< HingeJoint > MOMENTUM_NAMESPACE::Joint::asHingeJoint ( )

inherited

Returns

a reference to the joint as a HingeJoint if it is a HingeJoint, otherwise nullptr will be returned

asLockJoint()

std::shared_ptr< LockJoint > MOMENTUM_NAMESPACE::Joint::asLockJoint ( )

inherited

Returns

a reference to the joint as a LockJoint if it is a LockJoint, otherwise nullptr will be returned

asPrismaticJoint()

std::shared_ptr< PrismaticJoint > MOMENTUM_NAMESPACE::Joint::asPrismaticJoint ( )

inherited

Returns

a reference to the joint as a PrismaticJoint if it is a PrismaticJoint, otherwise nullptr will be returned

asSpringJoint()

std::shared_ptr< SpringJoint > MOMENTUM_NAMESPACE::Joint::asSpringJoint ( )

inherited

Returns

a reference to the joint as a SpringJoint if it is a SpringJoint, otherwise nullptr will be returned

getAgxRotationalDOF()

virtual int MOMENTUM_NAMESPACE::CylindricalJoint::getAgxRotationalDOF ( Joint::DegreeOfFreedom  dof ) const

protectedvirtual

Reimplemented from MOMENTUM_NAMESPACE::Joint.

getAgxTranslationalDOF()

virtual int MOMENTUM_NAMESPACE::CylindricalJoint::getAgxTranslationalDOF ( Joint::DegreeOfFreedom  dof ) const

protectedvirtual

Reimplemented from MOMENTUM_NAMESPACE::Joint.

getAngle()

double MOMENTUM_NAMESPACE::CylindricalJoint::getAngle

(

)

const

Get the current rotation around the z-axis, in radians.

getAngularFrictionController()

std::shared_ptr< FrictionController > MOMENTUM_NAMESPACE::CylindricalJoint::getAngularFrictionController

(

)

Since this friction controller is rotational the radius of the axle should be included in the friction coefficient for the comparisons with the normal force to be dimensionally correct.

I.e., friction_torque <= friction_coefficient * axle_radius * normal_force

Returns

the angular friction controller for the cylindrical joint.

getAngularMotor()

std::shared_ptr< AngularMotor > MOMENTUM_NAMESPACE::CylindricalJoint::getAngularMotor

(

)

const

Get the motor of the rotational z-axis.

getAngularRange()

std::shared_ptr< AngularRange > MOMENTUM_NAMESPACE::CylindricalJoint::getAngularRange

(

)

const

Get the range of the rotational z-axis.

getAngularSpring()

std::shared_ptr< AngularSpring > MOMENTUM_NAMESPACE::CylindricalJoint::getAngularSpring

(

)

const

Get the spring of the rotational z-axis.

getBody()

std::shared_ptr< RigidBody > MOMENTUM_NAMESPACE::Joint::getBody ( int  body ) const

inherited

Return the body at position 0 or 1, 1 can be nullptr, if that is the case, it is attached to world.

Parameters

body	- 0 for first body, 1 for second

Returns

the attached body

getBodyForce()

Vec3 MOMENTUM_NAMESPACE::Joint::getBodyForce ( int  body ) const

inherited

Get the force that the joint exerts on the specified body in the frame of the body, in newton.

Parameters

body	- 0 for first body, 1 for second

Returns

the force applied to the body from the constraint

getBodyTorque()

Vec3 MOMENTUM_NAMESPACE::Joint::getBodyTorque ( int  body ) const

inherited

Get the torque that the joint exerts on the specified body in the frame of the body, in newton-meters.

Parameters

body	- 0 for first body, 1 for second

Returns

the torque applied to the body from the constraint

getCurrentAngularSpeed()

double MOMENTUM_NAMESPACE::CylindricalJoint::getCurrentAngularSpeed

(

)

const

Get the current rotational speed around the z-axis in radians per second.

getCurrentLinearSpeed()

double MOMENTUM_NAMESPACE::CylindricalJoint::getCurrentLinearSpeed

(

)

const

Get the current speed along the z-axis in meters per second.

getDampingInternal()

agx::Real MOMENTUM_NAMESPACE::Joint::getDampingInternal ( int  agxDOF ) const

protectedinherited

getEnabled()

bool MOMENTUM_NAMESPACE::Joint::getEnabled ( ) const

inherited

Is the joint is enabled?

Returns

if the joint is enabled for simulation

getLinearFrictionController()

std::shared_ptr< FrictionController > MOMENTUM_NAMESPACE::CylindricalJoint::getLinearFrictionController

(

)

Returns

the linear friction controller for the cylindrical joint.

getLinearMotor()

std::shared_ptr< LinearMotor > MOMENTUM_NAMESPACE::CylindricalJoint::getLinearMotor

(

)

const

Get the motor of the translational z-axis.

getLinearRange()

std::shared_ptr< LinearRange > MOMENTUM_NAMESPACE::CylindricalJoint::getLinearRange

(

)

const

Get the range of the translational z-axis.

getLinearSpring()

std::shared_ptr< LinearSpring > MOMENTUM_NAMESPACE::CylindricalJoint::getLinearSpring

(

)

const

Get the spring of the translational z-axis.

getName()

std::string MOMENTUM_NAMESPACE::Joint::getName ( ) const

inherited

Get the name of the Joint.

Returns

the name of the joint

getPosition()

double MOMENTUM_NAMESPACE::CylindricalJoint::getPosition

(

)

const

Get the current displacement along the z-axis, in meters.

getRotationalDamping()

double MOMENTUM_NAMESPACE::Joint::getRotationalDamping ( DegreeOfFreedom  dof ) const

inherited

Get the rotational damping along the axis of the joint, in newton-meter-seconds per radian.

Parameters

dof	the degree of freedom to get the damping of

Returns

the rotational damping

getRotationalElasticity()

double MOMENTUM_NAMESPACE::Joint::getRotationalElasticity ( DegreeOfFreedom  dof ) const

inherited

Get the rotational elasticity along the axis of the joint, in newton per radian.

Parameters

dof	the degree of freedom to get the elasticity of

Returns

the rotational elasticity

getScrew1D()

std::shared_ptr< Screw1D > MOMENTUM_NAMESPACE::CylindricalJoint::getScrew1D

(

)

const

Screw controller connects rotation and translation.

Returns

the secondary constraint of type Screw1D

getTransformation()

AffineMatrix4x4 MOMENTUM_NAMESPACE::Joint::getTransformation ( int  body ) const

inherited

Get the transformation in the world frame of the attachment of specified body.

Parameters

body	- 0 for first body, 1 for second

Returns

the attachment transformation in the world frame.

getTranslationalDamping()

double MOMENTUM_NAMESPACE::Joint::getTranslationalDamping ( DegreeOfFreedom  dof ) const

inherited

Get the translational damping along the axis of the joint, in newton-seconds per meter.

Parameters

dof	the degree of freedom to get the damping of

Returns

the translational damping

getTranslationalElasticity()

double MOMENTUM_NAMESPACE::Joint::getTranslationalElasticity ( DegreeOfFreedom  dof ) const

inherited

Get the translational elasticity along the axis of the joint.

It is returned in newton per meter.

Parameters

dof	- select which dof for which the elasticity will be returned

Returns

the translational elasticity

operator==()

bool MOMENTUM_NAMESPACE::Joint::operator== ( const Joint &  other ) const

inherited

setDampingInternal()

void MOMENTUM_NAMESPACE::Joint::setDampingInternal ( int  agxDOF, double  damping  )

protectedinherited

setEnabled()

void MOMENTUM_NAMESPACE::Joint::setEnabled ( bool  enabled )

inherited

Set to true if the joint should be enabled and should interact with the simulation.

Parameters

enabled

- if true the joint should interact with the simulation

Only available in simulation mode

setRotationalDamping()

void MOMENTUM_NAMESPACE::Joint::setRotationalDamping ( DegreeOfFreedom  dof, double  damping  )

inherited

Set the rotational damping along the axis of the joint, in newton-meter-seconds per radian.

Parameters

dof	the degree of freedom to set the damping of
damping	new the rotational damping

Only available in simulation mode

setRotationalElasticity()

void MOMENTUM_NAMESPACE::Joint::setRotationalElasticity ( DegreeOfFreedom  dof, double  elasticity  )

inherited

Set the rotational elasticity along the axis of the joint, in newton per radian.

Parameters

dof	the degree of freedom to set the elasticity of
elasticity	the new rotational elasticity

Only available in simulation mode

setTransformation()

void MOMENTUM_NAMESPACE::Joint::setTransformation ( int  body, const AffineMatrix4x4 &  transform  )

inherited

Set the attachment transformation in the world frame of the specified body.

Parameters

body	- 0 for first body, 1 for second
transform	- the new transformation of the attachment

Only available in simulation mode

setTranslationalDamping()

void MOMENTUM_NAMESPACE::Joint::setTranslationalDamping ( DegreeOfFreedom  dof, double  damping  )

inherited

Set the translational damping along the axis of the joint, in newton-seconds per meter.

Parameters

dof	the degree of freedom to set the damping of
damping	the new translational damping

Only available in simulation mode

setTranslationalElasticity()

void MOMENTUM_NAMESPACE::Joint::setTranslationalElasticity ( DegreeOfFreedom  dof, double  elasticity  )

inherited

Set the translational elasticity along the axis of the joint, in newton per meter.

Parameters

dof	the degree of freedom to set the elasticity of
elasticity	the new translational elasticity

Only available in simulation mode