Sphere object that makes the muscle to wrap around. More...

#include <WrappingSphere.h>

Inheritance diagram for biorbd::muscles::WrappingSphere:

Public Member Functions
	WrappingSphere ()
	Construct a wrapping sphere.

	WrappingSphere (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::Scalar &diameter)
	Construct a wrapping sphere. More...

	WrappingSphere (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::Scalar &diameter, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping sphere. More...

	WrappingSphere (const biorbd::utils::Vector3d &v, const biorbd::utils::Scalar &diameter)
	Construct a wrapping sphere. More...

biorbd::muscles::WrappingSphere	DeepCopy () const
	Deep copy of the wrapping sphere. More...

void	DeepCopy (const biorbd::muscles::WrappingSphere &other)
	Deep copy of the wrapping sphere in another wrapping sphere. More...

virtual void	wrapPoints (const biorbd::utils::RotoTrans &, const biorbd::utils::Vector3d &, const biorbd::utils::Vector3d &, biorbd::utils::Vector3d &, biorbd::utils::Vector3d &, biorbd::utils::Scalar *=nullptr)
	Not yet implemented.

virtual void	wrapPoints (biorbd::rigidbody::Joints &, const biorbd::rigidbody::GeneralizedCoordinates &, const biorbd::utils::Vector3d &, const biorbd::utils::Vector3d &, biorbd::utils::Vector3d &, biorbd::utils::Vector3d &, biorbd::utils::Scalar *=nullptr)
	Not yet implemented.

virtual void	wrapPoints (biorbd::utils::Vector3d &, biorbd::utils::Vector3d &, biorbd::utils::Scalar *=nullptr)
	Not yet implemented.

const biorbd::utils::RotoTrans &	RT (biorbd::rigidbody::Joints &model, const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the RotoTrans matrix of the sphere. More...

void	setDiameter (const biorbd::utils::Scalar &val)
	Set the diameter of the wrappping sphere. More...

const biorbd::utils::Scalar &	diameter () const
	Return the diameter of the wrapping sphere. More...

Public Member Functions inherited from biorbd::muscles::WrappingObject
	WrappingObject ()
	Construct a wrapping object.

	WrappingObject (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z)
	Construct a wrapping object. More...

	WrappingObject (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping object. More...

	WrappingObject (const biorbd::utils::Vector3d &other)
	Construct a wrapping object from 3d Vector. More...

	WrappingObject (const biorbd::utils::Vector3d &other, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a wrapping object. More...

void	DeepCopy (const biorbd::muscles::WrappingObject &other)
	Deep copy of the wrapping ibject in another wrapping object. More...

const biorbd::utils::RotoTrans &	RT () const
	Return the RotoTrans matrix of the wrapping object. More...

biorbd::muscles::WrappingObject &	operator= (const biorbd::utils::Vector3d &other)
	To be able to use the equal "=" operator to define wrapping object. More...

Public Member Functions inherited from biorbd::utils::Vector3d
	Vector3d ()
	Construct 3D vector. More...

	Vector3d (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z)
	Construct 3D vector. More...

	Vector3d (const biorbd::utils::Scalar &x, const biorbd::utils::Scalar &y, const biorbd::utils::Scalar &z, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a 3D vector. More...

	Vector3d (const biorbd::utils::Vector3d vec, const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct a 3D vector. More...

	Vector3d (const RigidBodyDynamics::Math::Vector3d &other)
	Construct a 3D vector from a Casadi 3D vector (drop the trailling 1) More...

	Vector3d (const RigidBodyDynamics::Math::VectorNd &other)
	Construct a 3D vector from a Casadi ND vector (drop the trailling 1) More...

	Vector3d (const RigidBodyDynamics::Math::Vector4d &other)
	Construct a 3D vector from an eigen 4D vector (drop the trailling 1) More...

biorbd::utils::Vector3d	DeepCopy () const
	Deep copy of a 3D vector. More...

void	DeepCopy (const biorbd::utils::Vector3d &other)
	Deep copy of a 3D vector into another 3D vector. More...

biorbd::utils::Vector3d	applyRT (const RotoTrans &rt) const
	Apply a RotoTrans to the 3D vector. More...

void	applyRT (const RotoTrans &rt)
	Apply a RotoTrans to the 3D vector. More...

Public Member Functions inherited from biorbd::utils::Node
	Node ()
	Construct Node.

	Node (const biorbd::utils::Node &other)
	Construct Node from another node. More...

	Node (const biorbd::utils::String &name)
	Construct Node. More...

	Node (const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct Node. More...

virtual	~Node ()
	Destroy class properly.

void	DeepCopy (const biorbd::utils::Node &other)
	Deep copy of the node in another node. More...

void	setName (const biorbd::utils::String &name)
	Set the name of the node. More...

const biorbd::utils::String &	name () const
	Return the name of the node.

const biorbd::utils::String &	parent () const
	Return the parent name of the node.

void	setParent (const biorbd::utils::String &name)
	Set the parent name of the node. More...

biorbd::utils::NODE_TYPE	typeOfNode () const
	Return the type of node.

Protected Attributes
std::shared_ptr< biorbd::utils::Scalar >	m_dia
	Diameter of the wrapping sphere.

Protected Attributes inherited from biorbd::muscles::WrappingObject
std::shared_ptr< biorbd::utils::RotoTrans >	m_RT
	RotoTrans matrix of the wrapping object.

Protected Attributes inherited from biorbd::utils::Node
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the node.

std::shared_ptr< biorbd::utils::String >	m_parentName
	The parent name of the node.

std::shared_ptr< biorbd::utils::NODE_TYPE >	m_typeOfNode
	The type of the node.

Additional Inherited Members
Protected Member Functions inherited from biorbd::utils::Vector3d
void	setType ()
	Set the type Vector3d.

Detailed Description

Sphere object that makes the muscle to wrap around.

Definition at line 12 of file WrappingSphere.h.

Constructor & Destructor Documentation

◆ WrappingSphere() [1/3]

biorbd::muscles::WrappingSphere::WrappingSphere	(	const biorbd::utils::Scalar &	x,
		const biorbd::utils::Scalar &	y,
		const biorbd::utils::Scalar &	z,
		const biorbd::utils::Scalar &	diameter
	)

Construct a wrapping sphere.

Parameters

x	X-Component of the sphere
y	Y-Component of the sphere
z	Z-Component of the sphere
diameter	Diameter of the sphere

Definition at line 14 of file WrappingSphere.cpp.

◆ WrappingSphere() [2/3]

biorbd::muscles::WrappingSphere::WrappingSphere	(	const biorbd::utils::Scalar &	x,
		const biorbd::utils::Scalar &	y,
		const biorbd::utils::Scalar &	z,
		const biorbd::utils::Scalar &	diameter,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName
	)

Construct a wrapping sphere.

Parameters

x	X-Component of the sphere
y	Y-Component of the sphere
z	Z-Component of the sphere
diameter	Diameter of the sphere
name	Name of the sphere
parentName	Name of the parent segment

Definition at line 26 of file WrappingSphere.cpp.

◆ WrappingSphere() [3/3]

biorbd::muscles::WrappingSphere::WrappingSphere	(	const biorbd::utils::Vector3d &	v,
		const biorbd::utils::Scalar &	diameter
	)

Construct a wrapping sphere.

Parameters

v	Position of the center of the sphere
diameter	Diameter of the sphere

Definition at line 39 of file WrappingSphere.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::muscles::WrappingSphere biorbd::muscles::WrappingSphere::DeepCopy ( ) const

Deep copy of the wrapping sphere.

Returns: A deep copy of the wrapping sphere

Definition at line 48 of file WrappingSphere.cpp.

◆ DeepCopy() [2/2]

void biorbd::muscles::WrappingSphere::DeepCopy ( const biorbd::muscles::WrappingSphere & other )

Deep copy of the wrapping sphere in another wrapping sphere.

Parameters

other The wrapping sphere to copy

Definition at line 55 of file WrappingSphere.cpp.

◆ diameter()

const biorbd::utils::Scalar & biorbd::muscles::WrappingSphere::diameter ( ) const

Return the diameter of the wrapping sphere.

Returns: The diameter of the wrapping sphere

Definition at line 75 of file WrappingSphere.cpp.

◆ RT()

const biorbd::utils::RotoTrans & biorbd::muscles::WrappingSphere::RT	(	biorbd::rigidbody::Joints &	model,
		const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

virtual

Return the RotoTrans matrix of the sphere.

Parameters

model	The joint model
Q	The generalized coordinates
updateKin	If the kinematics should be computed

Returns: The RotoTrans matrix of the sphere

Implements biorbd::muscles::WrappingObject.

Definition at line 61 of file WrappingSphere.cpp.

◆ setDiameter()

void biorbd::muscles::WrappingSphere::setDiameter ( const biorbd::utils::Scalar & val )

Set the diameter of the wrappping sphere.

Parameters

val	Value of the diameter

Definition at line 69 of file WrappingSphere.cpp.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WrappingSphere() [1/3]

◆ WrappingSphere() [2/3]

◆ WrappingSphere() [3/3]

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ diameter()

◆ RT()

◆ setDiameter()