Simbody  3.7
SimTK::Constraint::Weld Class Reference

Six constraint equations. More...

+ Inheritance diagram for SimTK::Constraint::Weld:

Public Member Functions

 Weld (MobilizedBody &body1, MobilizedBody &body2)
 Make the body frame of one body coincident with the body frame of the other body. More...
 
 Weld (MobilizedBody &body1, const Transform &frame1, MobilizedBody &body2, const Transform &frame2)
 Make a particular frame attached to one body coincident with a particular frame attached to the other body. More...
 
 Weld ()
 Default constructor creates an empty handle. More...
 
WeldsetAxisDisplayLength (Real r)
 This is used only for visualization. More...
 
Real getAxisDisplayLength () const
 Report the length being used for display of the frames being connected by this Weld. More...
 
WeldsetDefaultFrameOnBody1 (const Transform &)
 Explicitly set the default value for the frame on body1 which is to be made coincident with a frame on body2. More...
 
const TransformgetDefaultFrameOnBody1 () const
 Retrieve the default transform for the frame on body 1. More...
 
WeldsetDefaultFrameOnBody2 (const Transform &)
 Explicitly set the default value for the frame on body2 which is to be made coincident with a frame on body1. More...
 
const TransformgetDefaultFrameOnBody2 () const
 Retrieve the default transform for the frame on body 2. More...
 
MobilizedBodyIndex getBody1MobilizedBodyIndex () const
 Report the MobilizedBodyIndex of body 1 for this Weld constraint. More...
 
MobilizedBodyIndex getBody2MobilizedBodyIndex () const
 Report the MobilizedBodyIndex of body 2 for this Weld constraint. More...
 
const TransformgetFrameOnBody1 (const State &) const
 
const TransformgetFrameOnBody2 (const State &) const
 
Vec6 getPositionErrors (const State &) const
 
Vec6 getVelocityErrors (const State &) const
 
Vec6 getAccelerationErrors (const State &) const
 
Vec6 getMultipliers (const State &) const
 
const SpatialVecgetWeldReactionOnBody1 (const State &) const
 
const SpatialVecgetWeldReactionOnBody2 (const State &) const
 
- Public Member Functions inherited from SimTK::Constraint
 Constraint ()
 Default constructor creates an empty Constraint handle that can be used to reference any Constraint. More...
 
 Constraint (ConstraintImpl *r)
 For internal use: construct a new Constraint handle referencing a particular implementation object. More...
 
void disable (State &) const
 Disable this Constraint, effectively removing it from the system. More...
 
void enable (State &) const
 Enable this Constraint, without necessarily satisfying it. More...
 
bool isDisabled (const State &) const
 Test whether this constraint is currently disabled in the supplied State. More...
 
bool isDisabledByDefault () const
 Test whether this Constraint is disabled by default in which case it must be explicitly enabled before it will take effect. More...
 
void setDisabledByDefault (bool shouldBeDisabled)
 Normally Constraints are enabled when defined and can be disabled later. More...
 
 operator ConstraintIndex () const
 This is an implicit conversion from Constraint to ConstraintIndex when needed. More...
 
const SimbodyMatterSubsystemgetMatterSubsystem () const
 Get a const reference to the matter subsystem that contains this Constraint. More...
 
SimbodyMatterSubsystemupdMatterSubsystem ()
 Assuming you have writable access to this Constraint, get a writable reference to the containing matter subsystem. More...
 
ConstraintIndex getConstraintIndex () const
 Get the ConstraintIndex that was assigned to this Constraint when it was added to the matter subsystem. More...
 
bool isInSubsystem () const
 Test whether this Constraint is contained within a matter subsystem. More...
 
bool isInSameSubsystem (const MobilizedBody &mobod) const
 Test whether the supplied MobilizedBody is in the same matter subsystem as this Constraint. More...
 
int getNumConstrainedBodies () const
 Return the number of unique bodies directly restricted by this constraint. More...
 
const MobilizedBodygetMobilizedBodyFromConstrainedBody (ConstrainedBodyIndex consBodyIx) const
 Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Bodies included in the count returned by getNumConstrainedBodies(). More...
 
const MobilizedBodygetAncestorMobilizedBody () const
 Return a const reference to the actual MobilizedBody which is serving as the Ancestor body for the constrained bodies in this Constraint. More...
 
int getNumConstrainedMobilizers () const
 Return the number of unique mobilizers directly restricted by this Constraint. More...
 
const MobilizedBodygetMobilizedBodyFromConstrainedMobilizer (ConstrainedMobilizerIndex consMobilizerIx) const
 Return a const reference to the actual MobilizedBody corresponding to one of the Constrained Mobilizers included in the count returned by getNumConstrainedMobilizers(). More...
 
const SimbodyMatterSubtreegetSubtree () const
 Return a subtree object indicating which parts of the multibody tree are potentially affected by this Constraint. More...
 
int getNumConstrainedQ (const State &, ConstrainedMobilizerIndex) const
 Return the number of constrainable generalized coordinates q associated with a particular constrained mobilizer. More...
 
int getNumConstrainedU (const State &, ConstrainedMobilizerIndex) const
 Return the number of constrainable mobilities u associated with a particular constrained mobilizer. More...
 
ConstrainedUIndex getConstrainedUIndex (const State &, ConstrainedMobilizerIndex, MobilizerUIndex which) const
 Return the index into the constrained mobilities u array corresponding to a particular mobility of the indicated ConstrainedMobilizer. More...
 
ConstrainedQIndex getConstrainedQIndex (const State &, ConstrainedMobilizerIndex, MobilizerQIndex which) const
 Return the index into the constrained coordinates q array corresponding to a particular coordinate of the indicated ConstrainedMobilizer. More...
 
int getNumConstrainedQ (const State &) const
 Return the sum of the number of coordinates q associated with each of the constrained mobilizers. More...
 
int getNumConstrainedU (const State &) const
 Return the sum of the number of mobilities u associated with each of the constrained mobilizers. More...
 
QIndex getQIndexOfConstrainedQ (const State &state, ConstrainedQIndex consQIndex) const
 Map one of this Constraint's constrained q's to the corresponding index within the matter subsystem's whole q vector. More...
 
UIndex getUIndexOfConstrainedU (const State &state, ConstrainedUIndex consUIndex) const
 Map one of this Constraint's constrained U's (or mobilities) to the corresponding index within the matter subsystem's whole u vector. More...
 
void getNumConstraintEquationsInUse (const State &state, int &mp, int &mv, int &ma) const
 Find out how many holonomic (position), nonholonomic (velocity), and acceleration-only constraint equations are currently being generated by this Constraint. More...
 
void getIndexOfMultipliersInUse (const State &state, MultiplierIndex &px0, MultiplierIndex &vx0, MultiplierIndex &ax0) const
 Return the start of the blocks of multipliers (or acceleration errors) assigned to this Constraint. More...
 
void setMyPartInConstraintSpaceVector (const State &state, const Vector &myPart, Vector &constraintSpace) const
 Set the part of a complete constraint-space vector that belongs to this constraint. More...
 
void getMyPartFromConstraintSpaceVector (const State &state, const Vector &constraintSpace, Vector &myPart) const
 Get the part of a complete constraint-space vector that belongs to this constraint. More...
 
Vector getPositionErrorsAsVector (const State &) const
 Get a Vector containing the position errors. More...
 
Vector calcPositionErrorFromQ (const State &, const Vector &q) const
 
Matrix calcPositionConstraintMatrixP (const State &) const
 
Matrix calcPositionConstraintMatrixPt (const State &) const
 
Matrix calcPositionConstraintMatrixPNInv (const State &) const
 
void calcConstraintForcesFromMultipliers (const State &, const Vector &lambda, Vector_< SpatialVec > &bodyForcesInA, Vector &mobilityForces) const
 This operator calculates this constraint's body and mobility forces given the complete set of multipliers lambda for this Constraint. More...
 
Vector getVelocityErrorsAsVector (const State &) const
 Get a Vector containing the velocity errors. More...
 
Vector calcVelocityErrorFromU (const State &, const Vector &u) const
 
Matrix calcVelocityConstraintMatrixV (const State &) const
 
Matrix calcVelocityConstraintMatrixVt (const State &) const
 
Vector getAccelerationErrorsAsVector (const State &) const
 Get a Vector containing the acceleration errors. More...
 
Vector calcAccelerationErrorFromUDot (const State &, const Vector &udot) const
 
Vector getMultipliersAsVector (const State &) const
 Get a Vector containing the Lagrange multipliers. More...
 
void getConstraintForcesAsVectors (const State &state, Vector_< SpatialVec > &bodyForcesInG, Vector &mobilityForces) const
 Given a State realized through Acceleration stage, return the forces that were applied to the system by this Constraint, with body forces expressed in Ground. More...
 
Vector_< SpatialVecgetConstrainedBodyForcesAsVector (const State &state) const
 For convenience, returns constrained body forces as the function return. More...
 
Vector getConstrainedMobilityForcesAsVector (const State &state) const
 For convenience, returns constrained mobility forces as the function return. More...
 
Real calcPower (const State &state) const
 Calculate the power being applied by this Constraint to the system. More...
 
Matrix calcAccelerationConstraintMatrixA (const State &) const
 
Matrix calcAccelerationConstraintMatrixAt (const State &) const
 
void setIsConditional (bool isConditional)
 (Advanced) Mark this constraint as one that is only conditionally active. More...
 
bool isConditional () const
 (Advanced) Get the value of the isConditional flag. More...
 
- Public Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
bool isEmptyHandle () const
 Returns true if this handle is empty, that is, does not refer to any implementation object. More...
 
bool isOwnerHandle () const
 Returns true if this handle is the owner of the implementation object to which it refers. More...
 
bool isSameHandle (const Constraint &other) const
 Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...
 
void disown (Constraint &newOwner)
 Give up ownership of the implementation to an empty handle. More...
 
PIMPLHandlereferenceAssign (const Constraint &source)
 "Copy" assignment but with shallow (pointer) semantics. More...
 
PIMPLHandlecopyAssign (const Constraint &source)
 This is real copy assignment, with ordinary C++ object ("value") semantics. More...
 
void clearHandle ()
 Make this an empty handle, deleting the implementation object if this handle is the owner of it. More...
 
const ConstraintImpl & getImpl () const
 Get a const reference to the implementation associated with this Handle. More...
 
ConstraintImpl & updImpl ()
 Get a writable reference to the implementation associated with this Handle. More...
 
int getImplHandleCount () const
 Return the number of handles the implementation believes are referencing it. More...
 

Additional Inherited Members

- Public Types inherited from SimTK::Constraint
typedef Rod ConstantDistance
 Synonym for Rod constraint. More...
 
typedef Ball CoincidentPoints
 Synonym for Ball constraint. More...
 
typedef Ball Spherical
 Synonym for Ball constraint. More...
 
typedef Weld CoincidentFrames
 
- Public Types inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
typedef PIMPLHandle< Constraint, ConstraintImpl, PTR > HandleBase
 
typedef HandleBase ParentHandle
 
- Protected Member Functions inherited from SimTK::PIMPLHandle< Constraint, ConstraintImpl, true >
 PIMPLHandle ()
 The default constructor makes this an empty handle. More...
 
 PIMPLHandle (ConstraintImpl *p)
 This provides consruction of a handle referencing an existing implementation object. More...
 
 PIMPLHandle (const PIMPLHandle &source)
 The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
 
 ~PIMPLHandle ()
 Note that the destructor is non-virtual. More...
 
PIMPLHandleoperator= (const PIMPLHandle &source)
 Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More...
 
void setImpl (ConstraintImpl *p)
 Set the implementation for this empty handle. More...
 
bool hasSameImplementation (const Constraint &other) const
 Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...
 

Detailed Description

Six constraint equations.

This constraint enforces coincidence between a frame on one body and a frame on another body. This is a combination of a ConstantOrientation constraint and a Ball constraint. The first three equations correspond to the perpendicularity constraints associated with the orientation constraint, the last three equations are the coincident point conditions.

The constraint is enforced by an internal (non-working) force applied at the spatial location of the frame origin on body 2, on material points of each body that are coincident with that spatial location. Note that this is somewhat asymmetric when the Weld is not properly assembled – it acts as though the contact occurs at the origin of the frame on body 2, not at the origin of the frame on body 1. The orientation constraints on the other hand are symmetric, they are three "constant angle" constraints enforcing perpendicularity between body2's x,y,z axes with body1's y,z,x axes respectively, via an internal (non-working) torque vector applied equal and opposite on each body.

TODO: Although the frame origins can be brought together by the Ball constraint, the perpendicularity conditions can be satisfied with antiparallel axes in addition to the parallel ones we want. Therefore the assembly conditions must include additional (redundant) constraints requiring parallel axes.

Constructor & Destructor Documentation

◆ Weld() [1/3]

Make the body frame of one body coincident with the body frame of the other body.

◆ Weld() [2/3]

SimTK::Constraint::Weld::Weld ( MobilizedBody body1,
const Transform frame1,
MobilizedBody body2,
const Transform frame2 
)

Make a particular frame attached to one body coincident with a particular frame attached to the other body.

The frames are specified by giving the transform X_BF which expresses the position and orientation of frame F relative to the body frame B.

◆ Weld() [3/3]

Default constructor creates an empty handle.

Member Function Documentation

◆ setAxisDisplayLength()

Weld& SimTK::Constraint::Weld::setAxisDisplayLength ( Real  r)

This is used only for visualization.

Set r <= 0 to disable default frame drawing. Default axis length is r=1. This is a topology-stage variable, not changeable later.

◆ getAxisDisplayLength()

Real SimTK::Constraint::Weld::getAxisDisplayLength ( ) const

Report the length being used for display of the frames being connected by this Weld.

If this returns 0 then no geometry is being generated for the frames.

◆ setDefaultFrameOnBody1()

Weld& SimTK::Constraint::Weld::setDefaultFrameOnBody1 ( const Transform )

Explicitly set the default value for the frame on body1 which is to be made coincident with a frame on body2.

Note that this is topology-stage value so requires non-const access to the Constraint.

◆ getDefaultFrameOnBody1()

const Transform& SimTK::Constraint::Weld::getDefaultFrameOnBody1 ( ) const

Retrieve the default transform for the frame on body 1.

◆ setDefaultFrameOnBody2()

Weld& SimTK::Constraint::Weld::setDefaultFrameOnBody2 ( const Transform )

Explicitly set the default value for the frame on body2 which is to be made coincident with a frame on body1.

Note that this is topology-stage value so requires non-const access to the Constraint.

◆ getDefaultFrameOnBody2()

const Transform& SimTK::Constraint::Weld::getDefaultFrameOnBody2 ( ) const

Retrieve the default transform for the frame on body 2.

◆ getBody1MobilizedBodyIndex()

MobilizedBodyIndex SimTK::Constraint::Weld::getBody1MobilizedBodyIndex ( ) const

Report the MobilizedBodyIndex of body 1 for this Weld constraint.

◆ getBody2MobilizedBodyIndex()

MobilizedBodyIndex SimTK::Constraint::Weld::getBody2MobilizedBodyIndex ( ) const

Report the MobilizedBodyIndex of body 2 for this Weld constraint.

◆ getFrameOnBody1()

const Transform& SimTK::Constraint::Weld::getFrameOnBody1 ( const State ) const

◆ getFrameOnBody2()

const Transform& SimTK::Constraint::Weld::getFrameOnBody2 ( const State ) const

◆ getPositionErrors()

Vec6 SimTK::Constraint::Weld::getPositionErrors ( const State ) const

◆ getVelocityErrors()

Vec6 SimTK::Constraint::Weld::getVelocityErrors ( const State ) const

◆ getAccelerationErrors()

Vec6 SimTK::Constraint::Weld::getAccelerationErrors ( const State ) const

◆ getMultipliers()

Vec6 SimTK::Constraint::Weld::getMultipliers ( const State ) const

◆ getWeldReactionOnBody1()

const SpatialVec& SimTK::Constraint::Weld::getWeldReactionOnBody1 ( const State ) const

◆ getWeldReactionOnBody2()

const SpatialVec& SimTK::Constraint::Weld::getWeldReactionOnBody2 ( const State ) const

The documentation for this class was generated from the following file: