Local class that represents one of the mobilizers (tree joints) in the generated spanning tree.
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| Mobilizer () |
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| Mobilizer (int jointNum, int level, int inboardBodyNum, int outboardBodyNum, bool isReversed, MultibodyGraphMaker *graphMaker) |
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bool | isAddedBaseMobilizer () const |
| Return true if this mobilizer does not represent one of the input joints, but is instead a joint we added connecting a base body to ground. More...
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void * | getJointRef () const |
| Get the user reference pointer for the joint associated with this mobilizer, if there is such a joint. More...
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void * | getInboardBodyRef () const |
| Get the user reference pointer for the inboard body of this mobilizer. More...
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void * | getOutboardBodyRef () const |
| Get the user reference pointer for the outboard body of this mobilizer. More...
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void * | getOutboardMasterBodyRef () const |
| Get the user reference pointer for the outboard body of this mobilizer, if it is one of the input bodes, or to the master body for the outboard body if the outboard body is a slave body. More...
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const std::string & | getJointTypeName () const |
| Get the joint type name of the joint that this mobilizer represents. More...
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void * | getJointTypeRef () const |
| Get the reference pointer (if any) that was provided when this mobilizer's joint type was defined in an addJointType() call. More...
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bool | isSlaveMobilizer () const |
| Return true if the outboard body of this mobilizer is a slave we created in order to cut a loop, rather than one of the input bodies. More...
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int | getNumFragments () const |
| Return the number of fragments into which we chopped the outboard body of this mobilizer. More...
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bool | isReversedFromJoint () const |
| Return true if this mobilizer represents one of the input joints but the sense of inboard->outboard is reversed from the parent->child sense defined in the input joint. More...
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int | getLevel () const |
| Return the level of the outboard body (Ground is level 0) More...
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Local class that represents one of the mobilizers (tree joints) in the generated spanning tree.
There is always a corresponding joint, although that joint might be a ground-to-body free joint that was added automatically.
bool SimTK::MultibodyGraphMaker::Mobilizer::isAddedBaseMobilizer |
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Return true if this mobilizer does not represent one of the input joints, but is instead a joint we added connecting a base body to ground.
If this returns true then there will be no user reference pointer returned from getJointRef(). Also, the inboard body is always ground. When you create this mobilizer, the joint frames should be identity, that is, the joint should connect the ground frame to the outboard body frame.