SOFA plugin: ArticulatedSystemPlugin  master
Open source framework for multi-physics simuation
articulatedsystemplugin::Articulation Class Reference

#include <ArticulatedHierarchyContainer.h>

Inheritance diagram for articulatedsystemplugin::Articulation:

Detailed Description

This class defines an articulation. An articulation is defined by an axis, an orientation and an index. All the variables which are defined in this class can be modified once sofa is running.

Public Attributes

Data< type::Vec3 > axis
 Set the rotation axis for the articulation. More...
 
Data< bool > rotation
 Rotation. More...
 
Data< bool > translation
 Translation. More...
 
Data< int > articulationIndex
 Articulation index. More...
 
std::vector< double > motion
 
ArticulatedHierarchyContainer::Transform H_pLc_a
 

Public Member Functions

 SOFA_CLASS (Articulation, core::objectmodel::BaseObject)
 

Protected Member Functions

 Articulation ()
 
 ~Articulation () override
 

Attribute details

◆ articulationIndex

Data<int> articulatedsystemplugin::Articulation::articulationIndex

Articulation index.

This is global index to number the articulations

◆ axis

Data<type::Vec3> articulatedsystemplugin::Articulation::axis

Set the rotation axis for the articulation.

this variable defines the motion axis

◆ H_pLc_a

ArticulatedHierarchyContainer::Transform articulatedsystemplugin::Articulation::H_pLc_a

For Arboris Mapping H_pLc_a : transformation accumulates the successive transformation provided by articulations on the same articulation center

◆ motion

std::vector<double> articulatedsystemplugin::Articulation::motion

◆ rotation

Data<bool> articulatedsystemplugin::Articulation::rotation

Rotation.

If true, this variable sets a rotation motion otherwise it does nothing

◆ translation

Data<bool> articulatedsystemplugin::Articulation::translation

Translation.

If true, this variable sets a translation motion otherwise it does nothing

Constructor details

◆ Articulation()

articulatedsystemplugin::Articulation::Articulation ( )
protected

An articulation is defined by an axis, an orientation and an index.

Parameters
axisis a Vec3. It determines the motion axis
rotationis a boolean. If true, it defines a rotation motion. Otherwise it does nothing.
translationis a boolean. If true, it defines a translation motion. Otherwise it does nothing.
articulationIndexis an integer. This index identifies, in an univocal way, one articulation from the set of articulations of a rigid object.

◆ ~Articulation()

articulatedsystemplugin::Articulation::~Articulation ( )
inlineoverrideprotected

Function details

◆ SOFA_CLASS()

articulatedsystemplugin::Articulation::SOFA_CLASS ( Articulation  ,
core::objectmodel::BaseObject   
)