sofa::component::ArticulatedMass Class Reference

#include <ArticulatedMass.h>

Inheritance diagram for sofa::component::ArticulatedMass:

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Collaboration diagram for sofa::component::ArticulatedMass:

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Detailed Description

Definition at line 18 of file ArticulatedMass.h.

Public Types
typedef core::objectmodel::BaseContext::SolidTypes	SolidTypes
typedef SolidTypes::Real	Real
typedef SolidTypes::Vec	Vec
typedef SolidTypes::RigidInertia	RigidInertia
typedef SolidTypes::ArticulatedInertia	ArticulatedInertia
Public Member Functions
	ArticulatedMass (ArticulatedBody *)
virtual	~ArticulatedMass ()
void	setInertia (Real m, const Vec &c, Real xx, Real yy, Real zz, Real xy, Real yz, Real zx)
virtual void	addMDx (VecDeriv &f, const VecDeriv &dx)
	f += M dx
virtual void	accFromF (VecDeriv &a, const VecDeriv &f)
	dx = M^-1 f
virtual void	computeForce (VecDeriv f, const VecCoord &x, const VecDeriv &v)
virtual void	computeDf (VecDeriv df, const VecCoord &x, const VecDeriv &v, const VecDeriv &dx)
	f += gravity and inertia forces
Data Fields
RigidInertia	sp_I
	Rigid body inertia matrix in local coordinates.
ArticulatedInertia	sp_Ia
	Articulated body inertia matrix in world coordinates.
Protected Attributes
ArticulatedBody *	body_

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Member Typedef Documentation

typedef core::objectmodel::BaseContext::SolidTypes sofa::component::ArticulatedMass::SolidTypes

Definition at line 21 of file ArticulatedMass.h.

typedef SolidTypes::Real sofa::component::ArticulatedMass::Real

Definition at line 22 of file ArticulatedMass.h.

typedef SolidTypes::Vec sofa::component::ArticulatedMass::Vec

Definition at line 23 of file ArticulatedMass.h.

typedef SolidTypes::RigidInertia sofa::component::ArticulatedMass::RigidInertia

Definition at line 24 of file ArticulatedMass.h.

typedef SolidTypes::ArticulatedInertia sofa::component::ArticulatedMass::ArticulatedInertia

Definition at line 25 of file ArticulatedMass.h.

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Constructor & Destructor Documentation

sofa::component::ArticulatedMass::ArticulatedMass

(

ArticulatedBody *

s

)

Definition at line 15 of file ArticulatedMass.cpp.

References body_, sofa::defaulttype::SolidTypes< R >::RigidInertia::h, sofa::defaulttype::SolidTypes< R >::RigidInertia::I, sofa::defaulttype::SolidTypes< R >::RigidInertia::m, and sp_I.

virtual sofa::component::ArticulatedMass::~ArticulatedMass

(

)

[inline, virtual]

Definition at line 28 of file ArticulatedMass.h.

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Member Function Documentation

void sofa::component::ArticulatedMass::setInertia	(	Real	m,
		const Vec &	c,
		Real	xx,
		Real	yy,
		Real	zz,
		Real	xy,
		Real	yz,
		Real	zx
	)

Definition at line 26 of file ArticulatedMass.cpp.

References sofa::defaulttype::SolidTypes< R >::crossM(), sofa::defaulttype::SolidTypes< R >::RigidInertia::h, sofa::defaulttype::SolidTypes< R >::RigidInertia::I, sofa::defaulttype::SolidTypes< R >::RigidInertia::m, sp_I, and sofa::defaulttype::Mat< L, C, real >::transposed().

void sofa::component::ArticulatedMass::addMDx	(	VecDeriv &	f,
		const VecDeriv &	dx
	)			[virtual]

f += M dx

Definition at line 46 of file ArticulatedMass.cpp.

void sofa::component::ArticulatedMass::accFromF	(	VecDeriv &	a,
		const VecDeriv &	f
	)			[virtual]

dx = M^-1 f

Definition at line 49 of file ArticulatedMass.cpp.

void sofa::component::ArticulatedMass::computeForce	(	VecDeriv	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			[virtual]

Definition at line 52 of file ArticulatedMass.cpp.

References body_, sofa::core::objectmodel::ContextObject::getContext(), sofa::component::ArticulatedBody::getF(), sofa::component::ArticulatedBody::getV(), sp_I, and sp_Ia.

void sofa::component::ArticulatedMass::computeDf	(	VecDeriv	df,
		const VecCoord &	x,
		const VecDeriv &	v,
		const VecDeriv &	dx
	)			[virtual]

f += gravity and inertia forces

Definition at line 68 of file ArticulatedMass.cpp.

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Field Documentation

RigidInertia sofa::component::ArticulatedMass::sp_I

Rigid body inertia matrix in local coordinates.

Definition at line 41 of file ArticulatedMass.h.

Referenced by ArticulatedMass(), computeForce(), and setInertia().

ArticulatedInertia sofa::component::ArticulatedMass::sp_Ia

Articulated body inertia matrix in world coordinates.

Definition at line 42 of file ArticulatedMass.h.

Referenced by computeForce().

ArticulatedBody* sofa::component::ArticulatedMass::body_ [protected]

Definition at line 45 of file ArticulatedMass.h.

Referenced by ArticulatedMass(), and computeForce().

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

• modules/sofa/component/ArticulatedMass.h
• modules/sofa/component/ArticulatedMass.cpp

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