This non-holonomic Motion object imposes a constant rate on all mobilities. More...

Inheritance diagram for SimTK::Motion::Steady:

Public Member Functions
	Steady (MobilizedBody &mobod, Real u)
	Create a Motion::Steady where all mobilities have the same velocity. More...

template<int N>
	Steady (MobilizedBody &mobod, const Vec< N > &u)
	Create a Motion::Steady with different velocities for each mobility specified. More...

	Steady ()
	Default constructor creates an empty handle than can be assigned to reference any Motion::Steady object. More...

Steady &	setDefaultRate (Real u)
	Change the default rate this Motion will prescribe unless overridden in a particular State. More...

Steady &	setOneDefaultRate (MobilizerUIndex, Real u)
	Change the default rate this Motion will prescribe for one mobility, unless overridden in a particular State. More...

template<int N>
Steady &	setDefaultRates (const Vec< N > &u)
	Change the default rates this Motion will prescribe, supplying separate rates for each mobility as a Vec<N>. More...

Real	getOneDefaultRate (MobilizerUIndex ux) const
	Get the default rate setting for one mobility. More...

void	setRate (State &state, Real u) const
	Change the rate to be prescribed by this Motion when used with the given State. More...

void	setOneRate (State &state, MobilizerUIndex ux, Real u) const
	Change the rate this Motion will prescribe for one mobility when used with the given State. More...

Real	getOneRate (const State &state, MobilizerUIndex ux) const
	Get the rate setting for one mobility. More...

Public Member Functions inherited from SimTK::Motion
	Motion ()
	Default constructor creates an empty Motion handle that can be assigned to reference any kind of Motion object. More...

Level	getLevel (const State &) const
	Get the highest level being driven by this Motion. More...

Method	getLevelMethod (const State &) const
	Get the method being used to control the indicated Level. More...

void	disable (State &state) const
	Disable this Motion, effectively removing it from the mobilizer to which it belongs and allowing the mobilizer to move freely (unless locked). More...

void	enable (State &state) const
	Enable this Motion, without necessarily satisfying it. More...

bool	isDisabled (const State &state) const
	Test whether this Motion is currently disabled in the supplied State. More...

void	setDisabledByDefault (bool shouldBeDisabled)
	Specify that a Motion is to be inactive by default. More...

bool	isDisabledByDefault () const
	Test whether this Motion is disabled by default in which case it must be explicitly enabled before it will take effect. More...

const MobilizedBody &	getMobilizedBody () const
	Get the MobilizedBody to which this Motion belongs. More...

void	calcAllMethods (const State &s, Method &qMethod, Method &uMethod, Method &udotMethod) const
	(Advanced) This implements the above table. More...

Public Member Functions inherited from SimTK::PIMPLHandle< Motion, MotionImpl, 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 Motion &other) const
	Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...

void	disown (Motion &newOwner)
	Give up ownership of the implementation to an empty handle. More...

PIMPLHandle &	referenceAssign (const Motion &source)
	"Copy" assignment but with shallow (pointer) semantics. More...

PIMPLHandle &	copyAssign (const Motion &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 MotionImpl &	getImpl () const
	Get a const reference to the implementation associated with this Handle. More...

MotionImpl &	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::Motion
enum	Level { NoLevel = -1, Acceleration = 0, Velocity = 1, Position = 2 }
	What is the highest level of motion that is driven? Lower levels are also driven; higher levels are determined by integration. More...

enum	Method { NoMethod = -1, Zero = 0, Discrete = 1, Prescribed = 2, Free = 3, Fast = 4 }
	There are several ways to specify the motion at this Level, and the selected method also determines lower-level motions. More...

Public Types inherited from SimTK::PIMPLHandle< Motion, MotionImpl, true >
typedef PIMPLHandle< Motion, MotionImpl, PTR >	HandleBase

typedef HandleBase	ParentHandle

Static Public Member Functions inherited from SimTK::Motion
static const char *	nameOfLevel (Level)
	Returns a human-readable name corresponding to the given Level; useful for debugging. More...

static const char *	nameOfMethod (Method)
	Returns a human-readable name corresponding to the given Method; useful for debugging. More...

Protected Member Functions inherited from SimTK::Motion
	Motion (MotionImpl *r)
	For internal use: construct a new Motion handle referencing a particular implementation object. More...

Protected Member Functions inherited from SimTK::PIMPLHandle< Motion, MotionImpl, true >
	PIMPLHandle ()
	The default constructor makes this an empty handle. More...

	PIMPLHandle (MotionImpl *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...

PIMPLHandle &	operator= (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 (MotionImpl *p)
	Set the implementation for this empty handle. More...

bool	hasSameImplementation (const Motion &other) const
	Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...

Detailed Description

This non-holonomic Motion object imposes a constant rate on all mobilities.

Constructor & Destructor Documentation

◆ Steady() [1/3]

SimTK::Motion::Steady::Steady	(	MobilizedBody &	mobod,
		Real	u
	)

Create a Motion::Steady where all mobilities have the same velocity.

Parameters

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rate to be applied to all mobilities

◆ Steady() [2/3]

template<int N>

SimTK::Motion::Steady::Steady	(	MobilizedBody &	mobod,
		const Vec< N > &	u
	)

Create a Motion::Steady with different velocities for each mobility specified.

Any unspecified mobilities will get zero velocity.

Parameters

[in,out]	mobod	the MobilizedBody to which this Motion should be added
[in]	u	the rates to be applied to the first N mobilities; the rest are set to zero

◆ Steady() [3/3]

SimTK::Motion::Steady::Steady ( )

inline

Default constructor creates an empty handle than can be assigned to reference any Motion::Steady object.

Member Function Documentation

◆ setDefaultRate()

Steady& SimTK::Motion::Steady::setDefaultRate ( Real u )

Change the default rate this Motion will prescribe unless overridden in a particular State.

All mobilities will use this same rate.

◆ setOneDefaultRate()

Steady& SimTK::Motion::Steady::setOneDefaultRate	(	MobilizerUIndex	,
		Real	u
	)

Change the default rate this Motion will prescribe for one mobility, unless overridden in a particular State.

Rates for the other mobilities (if there is more than one) remain unchanged.

◆ setDefaultRates()

template<int N>

Steady& SimTK::Motion::Steady::setDefaultRates ( const Vec< N > & u )

Change the default rates this Motion will prescribe, supplying separate rates for each mobility as a Vec<N>.

◆ getOneDefaultRate()

Real SimTK::Motion::Steady::getOneDefaultRate ( MobilizerUIndex ux ) const

Get the default rate setting for one mobility.

◆ setRate()

void SimTK::Motion::Steady::setRate	(	State &	state,
		Real	u
	)		const

Change the rate to be prescribed by this Motion when used with the given State.

All mobilities will use this same rate.

◆ setOneRate()

void SimTK::Motion::Steady::setOneRate	(	State &	state,
		MobilizerUIndex	ux,
		Real	u
	)		const

Change the rate this Motion will prescribe for one mobility when used with the given State.