In file /home/blah/darwin2k/src/dyno/mechanism/dyno.h: The link class represents rigid bodies, either freely-moving or part of a mechanism.
Inheritance:
Public Fields
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State variables
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Mass properties
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Joint/mechanism relations
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Lists
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Dynamics-related members
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Miscellaneous members
Public Methods
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link(void)
- constructor
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~link(void)
- destructor
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Geometry-related methods
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Dynamics and force/moment
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Coordinate transformation
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convenience functions
Public Fields
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static int staticClassID
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int objectID
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int verboseLevel
Public Methods
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virtual const char* className(void) const
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virtual synObject* copy(void) const
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virtual int isOfType(int typeNum, int derivedOk)
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static int setStaticClassID(void)
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virtual int classID(void) const
Documentation
The link class represents rigid bodies, either freely-moving or
part of a mechanism. In a mechanism, links are connected by
joints into a tree structure. Closed-chain mechanisms may be
created by adding further constraints between links.
Links are composed of parts, and can compute their inertial properties
from the list of polyhedra (and their densities) in their parts.
The parts in a link are also connected in a tree, and the root part
of the tree shares the same coordinate system as the link.
- State variables
- triple x
- the world-space location of the link's center of mass
- quaternion Q
- the orientation of the link
- matrix r
- the orientation of the link as a 3x3 rotation matrix; corresponds to Q
- triple v
- the current velocity of the link's center of mass
- triple omega
- the current angular velocity of the link
- Mass properties
- matrix Ibody
- the body-space inertia matrix for the link
- matrix IbodyInv
- the inverse of Ibody
- triple com
- the link's center-of-mass, in link coordinates
- matrix I
- the link's world-space inertia matrix
- matrix Iinv
- the inverse of the link's world-space inertia matrix
- double mass
- the mass of the link
- Joint/mechanism relations
- tmatrix toParent
- a matrix converting from the link's coordinate system to its parent's
- int idx
- the index of the link in the mechanism's list of links
- link* parent
- the parent link
- joint* parentJoint
- the joint connecting the link to its parent; NULL if the link is a root
- mechanism* mech
- the mechanism of which the link is a part
- Lists
- ptrList* children
- list of child links
- ptrList* parts
- list of parts composing the link
- ptrList* joints
- list of joints (including parentJoint) connected to the link
- ptrList* mpolyList
- mpolys representing the physical form of the link
- ptrList* bpolyList
- mpolys used for collision detection
- ptrList* dpolyList
- mpolys used for display
- ptrList* msegs
- a list of ownerSegments for the link
- ptrList* frecs
- linkForceRecords
- Dynamics-related members
- svTripleResult* FS
- the sum of inertial forces and forces applied to child links
- svTripleResult* NS
- the sum of inertial moments and moments applied to child links
- svTripleResult* vcDotS
- the acceleration of the link's center of mass
- svTripleResult* vDotS
- the acceleration of the link's parent joint
- svTripleResult* omegaDotS
- the angular acceleration of the link
- triple inertialGunk
- other terms that don't depend on acceleration
- Miscellaneous members
- const char* name
- an optional name for the link; may be NULL
- cdBody* cdb
- an object used for collision detection
- link(void)
- constructor
- ~link(void)
- destructor
- Geometry-related methods
- int addMPoly(mpoly* mp, mpolyType whichType = DEFAULT)
- adds an mpoly of the indicated type; normally called by an assembly
- int addMPoly(mpoly* mp, const tmatrix &m, mpolyType whichType = DEFAULT)
- adds an mpoly of the indicated type, transforming first
by m; normally called by an assembly Note: this modifies mp
- int processPolyGeometry(void)
- computes surface normals and inertial properties
- Dynamics and force/moment
- methods
- inline linkForceRecord* addForce(const triple &f, const triple &pt, part* p = NULL)
- adds a force applied at the point pt (in world coordinates) to
Fext, and the corresponding moment to Next.
If mech->recordLinkForces is non-zero, then the linkForceRecord
for the force will be returned so that the caller can modify
it. This is mainly useful when computeConnectionForces() will
be used, and can be completely ignored otherwise.
- inline linkForceRecord* addForce(const triple &f, part* p = NULL)
- adds a pure force to the link (applied at the COM)
If mech->recordLinkForces is non-zero, then the linkForceRecord
for the force will be returned so that the caller can modify
it. This is mainly useful when computeConnectionForces() will
be used, and can be completely ignored otherwise.
Note that if p is NULL, then multiple linkForceRecords will be
created to distribute the forces among all link parts, proportional
to part mass. (This is an arbitrary distribution; if a more specific
distribution is desired, then use addForce(triple &force, triple &point,
part *p) instead.)
- inline linkForceRecord* addForce(const triple &f, const triple &n, const triple &pt, part* p = NULL)
- adds a force applied at the point pt (in world coordinates) to
Fext, and the sum of n and the corresponding moment to Next.
If mech->recordLinkForces is non-zero, then the linkForceRecord
for the force will be returned so that the caller can modify
it. This is mainly useful when computeConnectionForces() will
be used, and can be completely ignored otherwise.
- inline linkForceRecord* addMoment(const triple &n, part* p = NULL)
- adds the supplied moment to Next
If mech->recordLinkForces is non-zero, then the linkForceRecord
for the force will be returned so that the caller can modify
it. This is mainly useful when computeConnectionForces() will
be used, and can be completely ignored otherwise.
- inline triple getFext(void) const
- returns the resultant of external forces applied to the link
- inline triple getNext(void) const
- returns the resultant of external moments applied to the link
- int computeConnectionForces(void)
- computes internal forces at each connection between parts
- int printDynamics(int printValue) const
- prints the dynamic equations for the link
- void printDynamicsFlags(void) const
- prints the flags for s-val dynamic equations
- Coordinate transformation
- void getOriginPose(tmatrix &m)
- returns the pose of the link's origin in m
- inline triple T(const triple &pt)
- transforms pt from link to world coordinates
- inline triple Tinv(const triple &pt)
- transforms pt from world to link coordinates
- inline triple Tdot(const triple &pt)
- returns the world-space velocity of the point (which is in link coords)
- inline triple Tdir(const triple &dir)
- transforms a direction vector from link to world coordinates
- convenience functions
- inline int numParts(void) const
- returns the number of parts
- inline int numChildren(void) const
- returns the number of children
- inline int numJoints(void) const
- returns the number of joints
- inline int numSegments(void) const
- returns the number of segments
- inline int numPolys(void) const
- returns the number of mpolys
- inline part* getPart(int i)
- returns the i'th part
- inline joint* getJoint(int i)
- returns the i'th joint
- inline link* getChild(int i)
- returns the i'th child link
- inline mpoly* getMPoly(int i)
- returns the i'th mpoly
- inline mpoly* getBPoly(int i)
- returns the i'th bounding poly
- inline mpoly* getDPoly(int i)
- returns the i'th display poly
- inline ownerSegment* getOwnerSegment(int i)
- returns the i'th owner segment
- This class has no child classes.
- Friends:
- joint
mechanism
assembly
dynamicSystem
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