frcsim::PrismaticJoint Class Reference

Slider joint that permits translation along one axis and constrains all other relative motion. More...

#include <prismatic_joint.hpp>

Inheritance diagram for frcsim::PrismaticJoint:

Public Member Functions
	PrismaticJoint (RigidBody *body_a, RigidBody *body_b, const Vector3 &axis_local)
const Vector3 &	axisLocal () const
void	setLimits (double min_displacement_m, double max_displacement_m)
bool	hasLimits () const
double	minDisplacement () const
double	maxDisplacement () const
void	setMotorTarget (double target_velocity_mps, double max_force_n)
bool	hasMotor () const
double	motorTargetVelocity () const
double	motorMaxForce () const
void	solveConstraint (double dt_s, int iterations) override
double	constraintError () const override
Public Member Functions inherited from frcsim::JointBase
virtual	~JointBase ()=default
JointType	type () const
RigidBody *	bodyA ()
RigidBody *	bodyB ()
const RigidBody *	bodyA () const
const RigidBody *	bodyB () const
const Vector3 &	anchorA () const
const Vector3 &	anchorB () const
void	setAnchorA (const Vector3 &anchor)
void	setAnchorB (const Vector3 &anchor)
bool	isEnabled () const
void	setEnabled (bool enabled)
double	breakForceThreshold () const
void	setBreakForceThreshold (double force_n)
bool	isBroken () const
void	resetBroken ()
virtual void	warmStart ()

Additional Inherited Members
Protected Member Functions inherited from frcsim::JointBase
	JointBase (JointType type, RigidBody *body_a, RigidBody *body_b)
Protected Attributes inherited from frcsim::JointBase
JointType	type_
RigidBody *	body_a_ {nullptr}
RigidBody *	body_b_ {nullptr}
Vector3	anchor_a_ {}
Vector3	anchor_b_ {}
bool	is_enabled_ {true}
bool	is_broken_ {false}
double	break_force_threshold_ {1e6}

Detailed Description

Slider joint that permits translation along one axis and constrains all other relative motion.

Physics principle: constrained rigid-body dynamics with one translational degree of freedom. Optional limits and motor targets are enforced with impulse constraints.

Reference: https://en.wikipedia.org/wiki/Slider-crank_linkage

Constructor & Destructor Documentation

PrismaticJoint()

frcsim::PrismaticJoint::PrismaticJoint ( RigidBody * body_a, RigidBody * body_b, const Vector3 & axis_local )

inline

Member Function Documentation

axisLocal()

const Vector3 & frcsim::PrismaticJoint::axisLocal ( ) const

inline

constraintError()

double frcsim::PrismaticJoint::constraintError ( ) const

overridevirtual

Implements frcsim::JointBase.

hasLimits()

bool frcsim::PrismaticJoint::hasLimits ( ) const

inline

hasMotor()

bool frcsim::PrismaticJoint::hasMotor ( ) const

inline

maxDisplacement()

double frcsim::PrismaticJoint::maxDisplacement ( ) const

inline

minDisplacement()

double frcsim::PrismaticJoint::minDisplacement ( ) const

inline

motorMaxForce()

double frcsim::PrismaticJoint::motorMaxForce ( ) const

inline

motorTargetVelocity()

double frcsim::PrismaticJoint::motorTargetVelocity ( ) const

inline

setLimits()

void frcsim::PrismaticJoint::setLimits ( double min_displacement_m, double max_displacement_m )

inline

setMotorTarget()

void frcsim::PrismaticJoint::setMotorTarget ( double target_velocity_mps, double max_force_n )

inline

solveConstraint()

void frcsim::PrismaticJoint::solveConstraint ( double dt_s, int iterations )

overridevirtual

Implements frcsim::JointBase.

---

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

• src/main/driver/include/frcsim/joints/prismatic_joint.hpp