frcsim::RevoluteJoint Class Reference

Hinge joint that permits rotation about one axis while constraining relative translation. More...

#include <revolute_joint.hpp>

Inheritance diagram for frcsim::RevoluteJoint:

Public Member Functions
	RevoluteJoint (RigidBody *body_a, RigidBody *body_b, const Vector3 &axis_local)
const Vector3 &	axisLocal () const
void	setLimits (double min_angle_rad, double max_angle_rad)
void	clearLimits ()
bool	hasLimits () const
double	minAngle () const
double	maxAngle () const
void	setMotorTarget (double target_velocity_radps, double max_torque_nm)
bool	hasMotor () const
double	motorTargetVelocity () const
double	motorMaxTorque () 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

Hinge joint that permits rotation about one axis while constraining relative translation.

Physics principle: constrained rigid-body dynamics with one rotational degree of freedom. Limit and motor behavior are represented as angular inequality/equality constraints solved by impulses.

Reference: https://en.wikipedia.org/wiki/Hinge

Constructor & Destructor Documentation

RevoluteJoint()

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

inline

Member Function Documentation

axisLocal()

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

inline

clearLimits()

void frcsim::RevoluteJoint::clearLimits ( )

inline

constraintError()

double frcsim::RevoluteJoint::constraintError ( ) const

overridevirtual

Implements frcsim::JointBase.

hasLimits()

bool frcsim::RevoluteJoint::hasLimits ( ) const

inline

hasMotor()

bool frcsim::RevoluteJoint::hasMotor ( ) const

inline

maxAngle()

double frcsim::RevoluteJoint::maxAngle ( ) const

inline

minAngle()

double frcsim::RevoluteJoint::minAngle ( ) const

inline

motorMaxTorque()

double frcsim::RevoluteJoint::motorMaxTorque ( ) const

inline

motorTargetVelocity()

double frcsim::RevoluteJoint::motorTargetVelocity ( ) const

inline

setLimits()

void frcsim::RevoluteJoint::setLimits ( double min_angle_rad, double max_angle_rad )

inline

setMotorTarget()

void frcsim::RevoluteJoint::setMotorTarget ( double target_velocity_radps, double max_torque_nm )

inline

solveConstraint()

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

overridevirtual

Implements frcsim::JointBase.

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

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