#include <mbd_hinge_joint.h>

Inheritance diagram for OpenTissue::mbd::HingeJoint< mbd_types >:

Public Types
typedef mbd_types::math_policy	math_policy
typedef mbd_types::math_policy::index_type	size_type
typedef mbd_types::math_policy::real_type	real_type
typedef mbd_types::math_policy::vector3_type	vector3_type
typedef mbd_types::math_policy::matrix3x3_type	matrix3x3_type
typedef mbd_types::math_policy::quaternion_type	quaternion_type
typedef mbd_types::math_policy::vector_range	vector_range
typedef mbd_types::math_policy::idx_vector_range	idx_vector_range
typedef mbd_types::math_policy::matrix_range	matrix_range
typedef mbd_types::math_policy::vector_type	vector_type
typedef mbd_types::math_policy::value_traits	value_traits
typedef AngularJointLimit < mbd_types >	angular_limit_type
typedef AngularJointMotor < mbd_types >	angular_motor_type
Public Member Functions
real_type	get_hinge_angle () const
real_type	get_hinge_angle_rate () const
vector3_type	get_hinge_axis_world () const
void	set_limit (angular_limit_type const &limit)
void	set_motor (angular_motor_type const &motor)
	HingeJoint ()
virtual	~HingeJoint ()
void	evaluate ()
size_type	get_number_of_jacobian_rows () const
void	get_linear_jacobian_A (matrix_range &J) const
void	get_linear_jacobian_B (matrix_range &J) const
void	get_angular_jacobian_A (matrix_range &J) const
void	get_angular_jacobian_B (matrix_range &J) const
void	get_stabilization_term (vector_range &b_error) const
void	get_low_limits (vector_range &lo) const
void	get_high_limits (vector_range &hi) const
void	get_dependency_indices (idx_vector_range &dep) const
void	get_dependency_factors (vector_range &factors) const
void	set_regularization (vector_range const &gamma)
void	get_regularization (vector_range &gamma) const
void	set_solution (vector_range const &solution)
void	get_solution (vector_range &solution) const
void	calibration ()
Protected Attributes
vector3_type	m_s_A_wcs
	The joint axe wrt. to body A in WCS.
vector3_type	m_s_B_wcs
	The joint axe wrt. to body B in WCS.
vector3_type	m_t1
	A vector orthogonal to the joint axe (in WCS).
vector3_type	m_t2
	Another vector orthogonal to the joint axe and t1 (in WCS).
vector3_type	m_u
	Error correction rotation axe. Ie. if joint is misaligned this vector is used to determine an rotation axe which can be used to align the joint along.
matrix3x3_type	m_star_anc_A
	The cross product operator of the anchor point wrt. to body A rotated (but not translated) into WCS.
matrix3x3_type	m_star_anc_B
	The cross product operator of the anchor point wrt. to body B rotated (but not translated) into WCS.
vector3_type	m_anc_A_wcs
	The anchor point wrt. to body A in WCS.
vector3_type	m_anc_B_wcs
	The anchor point wrt. to body B in WCS.
quaternion_type	m_Q_initial
	The initial relative orientation between the two bodies (wrt. WCS) i.e. the rotation that aligns body A with body B.
quaternion_type	m_Q_initial_conj
	The conjugate of Q_initial.
angular_limit_type *	m_limit
angular_motor_type *	m_motor
size_type	m_rows
size_type	m_motor_offset
size_type	m_limit_offset
vector_type	m_gamma
	Local vector of constraint force mixing terms.
vector_type	m_solution
	Local solution vector, ie. vector of lagrange multipliers.

template<typename mbd_types>
class OpenTissue::mbd::HingeJoint< mbd_types >

Member Typedef Documentation

template<typename mbd_types >

typedef AngularJointLimit<mbd_types> OpenTissue::mbd::HingeJoint< mbd_types >::angular_limit_type

template<typename mbd_types >

typedef AngularJointMotor<mbd_types> OpenTissue::mbd::HingeJoint< mbd_types >::angular_motor_type

template<typename mbd_types >

typedef mbd_types::math_policy::idx_vector_range OpenTissue::mbd::HingeJoint< mbd_types >::idx_vector_range

template<typename mbd_types >

typedef mbd_types::math_policy OpenTissue::mbd::HingeJoint< mbd_types >::math_policy

template<typename mbd_types >

typedef mbd_types::math_policy::matrix3x3_type OpenTissue::mbd::HingeJoint< mbd_types >::matrix3x3_type

template<typename mbd_types >

typedef mbd_types::math_policy::matrix_range OpenTissue::mbd::HingeJoint< mbd_types >::matrix_range

template<typename mbd_types >

typedef mbd_types::math_policy::quaternion_type OpenTissue::mbd::HingeJoint< mbd_types >::quaternion_type

template<typename mbd_types >

typedef mbd_types::math_policy::real_type OpenTissue::mbd::HingeJoint< mbd_types >::real_type

template<typename mbd_types >

typedef mbd_types::math_policy::index_type OpenTissue::mbd::HingeJoint< mbd_types >::size_type

template<typename mbd_types >

typedef mbd_types::math_policy::value_traits OpenTissue::mbd::HingeJoint< mbd_types >::value_traits

template<typename mbd_types >

typedef mbd_types::math_policy::vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::vector3_type

template<typename mbd_types >

typedef mbd_types::math_policy::vector_range OpenTissue::mbd::HingeJoint< mbd_types >::vector_range

template<typename mbd_types >

typedef mbd_types::math_policy::vector_type OpenTissue::mbd::HingeJoint< mbd_types >::vector_type

Constructor & Destructor Documentation

template<typename mbd_types >

OpenTissue::mbd::HingeJoint< mbd_types >::HingeJoint ( ) [inline]

template<typename mbd_types >

virtual OpenTissue::mbd::HingeJoint< mbd_types >::~HingeJoint ( ) [inline, virtual]

Member Function Documentation

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::calibration ( ) [inline, virtual]

joint_type Calibration Routine. This method is invoked implicitly whenever the joint connectivity is changed (alteration of anchor points or joint axes).

It can also be invoked directly by and end user if the incident body position and/or rotations is changed.

Implements OpenTissue::mbd::JointInterface< mbd_types >.

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::evaluate ( ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_angular_jacobian_A ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_angular_jacobian_B ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_dependency_factors ( vector_range & factors ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_dependency_indices ( idx_vector_range & dep ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_high_limits ( vector_range & hi ) const [inline]

template<typename mbd_types >

real_type OpenTissue::mbd::HingeJoint< mbd_types >::get_hinge_angle ( ) const [inline]

Get Rotation Angle.

This angle tells how much body B have rotated around the joint axis (postive value means CCW, negative means CW) from its initial placement.

Think of it as if you have fixated body A so only body B is allowd to move.

Let BF_B' indicate the initial orientation of body B's body frame and BF_B the current orientation, now BF_A should be thought of as being immoveable ie. constant.

Q_initial : BF_A -> BF_B' Q_cur : BF_A -> BF_B

Now we must have the relation

Q_rel Q_initial = Q_cur

From which we deduce

Q_rel = Q_cur conj(Q_initial)

And we see that

Q_rel : BF_B' -> BF_B

That is how much the body frame of body B have rotated (measured with respect to the fixed body frame A).

Returns:: The angle in radians, which the joint have rotated around its joints axe away from its initial position (at calibration time).

template<typename mbd_types >

real_type OpenTissue::mbd::HingeJoint< mbd_types >::get_hinge_angle_rate ( ) const [inline]

Get Angle Rate. This method computes the (signed) speed by which the joint angle changes its radial position around the joint axe.

Returns:: The angle rate.

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::get_hinge_axis_world ( ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_linear_jacobian_A ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_linear_jacobian_B ( matrix_range & J ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_low_limits ( vector_range & lo ) const [inline]

template<typename mbd_types >

size_type OpenTissue::mbd::HingeJoint< mbd_types >::get_number_of_jacobian_rows ( ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_regularization ( vector_range & gamma ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_solution ( vector_range & solution ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::get_stabilization_term ( vector_range & b_error ) const [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::set_limit ( angular_limit_type const & limit ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::set_motor ( angular_motor_type const & motor ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::set_regularization ( vector_range const & gamma ) [inline]

template<typename mbd_types >

void OpenTissue::mbd::HingeJoint< mbd_types >::set_solution ( vector_range const & solution ) [inline]

Member Data Documentation

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_anc_A_wcs [protected]

The anchor point wrt. to body A in WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_anc_B_wcs [protected]

The anchor point wrt. to body B in WCS.

template<typename mbd_types >

vector_type OpenTissue::mbd::HingeJoint< mbd_types >::m_gamma [protected]

Local vector of constraint force mixing terms.

template<typename mbd_types >

angular_limit_type* OpenTissue::mbd::HingeJoint< mbd_types >::m_limit [protected]

template<typename mbd_types >

size_type OpenTissue::mbd::HingeJoint< mbd_types >::m_limit_offset [protected]

template<typename mbd_types >

angular_motor_type* OpenTissue::mbd::HingeJoint< mbd_types >::m_motor [protected]

template<typename mbd_types >

size_type OpenTissue::mbd::HingeJoint< mbd_types >::m_motor_offset [protected]

template<typename mbd_types >

quaternion_type OpenTissue::mbd::HingeJoint< mbd_types >::m_Q_initial [protected]

The initial relative orientation between the two bodies (wrt. WCS) i.e. the rotation that aligns body A with body B.

template<typename mbd_types >

quaternion_type OpenTissue::mbd::HingeJoint< mbd_types >::m_Q_initial_conj [protected]

The conjugate of Q_initial.

template<typename mbd_types >

size_type OpenTissue::mbd::HingeJoint< mbd_types >::m_rows [protected]

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_s_A_wcs [protected]

The joint axe wrt. to body A in WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_s_B_wcs [protected]

The joint axe wrt. to body B in WCS.

template<typename mbd_types >

vector_type OpenTissue::mbd::HingeJoint< mbd_types >::m_solution [protected]

Local solution vector, ie. vector of lagrange multipliers.

template<typename mbd_types >

matrix3x3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_star_anc_A [protected]

The cross product operator of the anchor point wrt. to body A rotated (but not translated) into WCS.

template<typename mbd_types >

matrix3x3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_star_anc_B [protected]

The cross product operator of the anchor point wrt. to body B rotated (but not translated) into WCS.

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_t1 [protected]

A vector orthogonal to the joint axe (in WCS).

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_t2 [protected]

Another vector orthogonal to the joint axe and t1 (in WCS).

template<typename mbd_types >

vector3_type OpenTissue::mbd::HingeJoint< mbd_types >::m_u [protected]

Error correction rotation axe. Ie. if joint is misaligned this vector is used to determine an rotation axe which can be used to align the joint along.

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

/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/joints/mbd_hinge_joint.h

OpenTissue::mbd::HingeJoint< mbd_types > Class Template Reference

Public Types

Public Member Functions

Protected Attributes

template<typename mbd_types> class OpenTissue::mbd::HingeJoint< mbd_types >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename mbd_types>
class OpenTissue::mbd::HingeJoint< mbd_types >