Home
last modified time | relevance | path

Searched refs:X_FM (Results 1 – 25 of 27) sorted by relevance

12

/dports/science/simbody/simbody-Simbody-3.7/Simbody/src/
H A DRigidBodyNodeSpec_Planar.h68 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
71 setQToFitTranslationImpl(sbs, X_FM.p(), q); // see below in setQToFitTransformImpl()
72 setQToFitRotationImpl(sbs, X_FM.R(), q); in setQToFitTransformImpl()
129 Transform& X_FM) const override in calcX_FM() argument
134 X_FM.updR().setRotationFromAngleAboutZ(qCache[CosQ], qCache[SinQ]); in calcX_FM()
135 X_FM.updP() = Vec3(q[1], q[2], 0); in calcX_FM()
H A DRigidBodyNodeSpec_PolarCoords.h144 Transform& X_FM) const in calcX_FM() argument
147 X_FM.updR().setRotationFromAngleAboutZ(qCache[CosQ], qCache[SinQ]); in calcX_FM()
149 X_FM.updP() = X_FM.R()*Vec3(q[1],0,0); // 15 flops; could be cheaper in calcX_FM()
H A DRigidBodyNodeSpec_Pin.h117 Transform& X_FM) const in calcX_FM() argument
120 X_FM.updR().setRotationFromAngleAboutZ(qCache[CosQ], qCache[SinQ]); in calcX_FM()
121 X_FM.updP() = 0; // can't translate in calcX_FM()
H A DRigidBodyNodeSpec_Screw.h123 Transform& X_FM) const in calcX_FM() argument
126 X_FM.updR().setRotationFromAngleAboutZ(qCache[CosQ], qCache[SinQ]); in calcX_FM()
130 X_FM.updP() = Vec3(0,0,q[0]*pitch); in calcX_FM()
H A DRigidBodyNodeSpec_Cylinder.h113 Transform& X_FM) const in calcX_FM() argument
116 X_FM.updR().setRotationFromAngleAboutZ(qCache[CosQ], qCache[SinQ]); in calcX_FM()
117 X_FM.updP() = Vec3(0,0,q[1]); in calcX_FM()
H A DRigidBodyNode_LoneParticle.cpp80 Transform& X_FM) const override { in calcX_FM()
82 X_FM = Transform(Rotation(), Vec3::getAs(&q[0])); in calcX_FM()
149 Transform& X_FM = toB(pc.bodyJointInParentJointFrame); in realizeInstance() local
150 X_FM.updR().setRotationToIdentityMatrix(); in realizeInstance()
165 Transform& X_FM = toB(pc.bodyJointInParentJointFrame); in realizePosition() local
167 X_FM.updP() = q; in realizePosition()
168 updX_PB(pc) = X_FM; in realizePosition()
169 updX_GB(pc) = X_FM; in realizePosition()
H A DRigidBodyNodeSpec_Universal.h138 Transform& X_FM) const in calcX_FM() argument
144 X_FM.updR() = Rotation(BodyRotationSequence, q[0], XAxis, q[1], YAxis); in calcX_FM()
145 X_FM.updP() = 0; in calcX_FM()
H A DRigidBodyNodeSpec_SphericalCoords.h201 Transform& X_FM) const in calcX_FM() argument
211 X_FM.updR() = Rotation( BodyRotationSequence, in calcX_FM()
215 X_FM.updP() = t * X_FM.R()(axisT); // i.e., t*Mx or t*Mz, expressed in F in calcX_FM()
H A DRigidBodyNodeSpec_Ellipsoid.h166 Transform X_FM; in setUToFitLinearVelocityImpl() local
167 this->calcAcrossJointTransform(sbs,q,X_FM); in setUToFitLinearVelocityImpl()
169 const Vec3 v_FM_M = ~X_FM.R()*v_FM; // we can only do vx and vy in this frame in setUToFitLinearVelocityImpl()
170 const Vec3 r_FM_M = ~X_FM.R()*X_FM.p(); in setUToFitLinearVelocityImpl()
171 const Vec3 wnow_FM_M = ~X_FM.R()*this->fromU(u); // preserve z component in setUToFitLinearVelocityImpl()
178 const Vec3 w_FM = X_FM.R()*w_FM_M; in setUToFitLinearVelocityImpl()
H A DForce_LinearBushing.cpp47 Transform X_GF, X_GM, X_FM; member
342 return getImpl().getPositionCache(s).X_FM; } in getX_FM()
432 pc.X_FM = ~pc.X_GF *pc.X_GM; // 63 flops in ensurePositionCacheValid()
437 pc.p_FM_G = pc.X_GF.R() * pc.X_FM.p(); // 15 flops in ensurePositionCacheValid()
441 pc.q.updSubVec<3>(0) = pc.X_FM.R().convertRotationToBodyFixedXYZ(); in ensurePositionCacheValid()
444 pc.q.updSubVec<3>(3) = pc.X_FM.p(); in ensurePositionCacheValid()
457 const Rotation& R_FM = pc.X_FM.R(); in ensureVelocityCacheValid()
526 const Rotation& R_FM = pc.X_FM.R(); in ensureForceCacheValid()
527 const Vec3& p_FM = pc.X_FM.p(); in ensureForceCacheValid()
H A DRigidBodyNodeSpec_Slider.h103 Transform& X_FM) const in calcX_FM() argument
109 X_FM = Transform(Rotation(), Vec3(q[0],0,0)); in calcX_FM()
H A DRigidBodyNodeSpec_Bushing.h83 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
86 setQToFitTranslationImpl(sbs, X_FM.p(), q); // see below in setQToFitTransformImpl()
87 setQToFitRotationImpl(sbs, X_FM.R(), q); in setQToFitTransformImpl()
H A DRigidBodyNodeSpec_Translation.h103 Transform& X_FM) const in calcX_FM() argument
108 X_FM = Transform(Rotation(), Vec3::getAs(&q[0])); in calcX_FM()
H A DRigidBodyNodeSpec.h471 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
473 setQToFitRotationImpl (sbs,X_FM.R(),q); in setQToFitTransformImpl()
474 setQToFitTranslationImpl(sbs,X_FM.p(),q); in setQToFitTransformImpl()
561 const Transform& X_FM = getX_FM(pc); // just calculated in calcBodyTransforms() local
564 const Transform X_FB = (noX_MB ? X_FM // cheap in calcBodyTransforms()
565 : X_FM*X_MB); // 63 flops in calcBodyTransforms()
H A DRigidBodyNodeSpec_Free.h80 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
83 setQToFitTranslationImpl(sbs, X_FM.p(), q); // see below in setQToFitTransformImpl()
84 setQToFitRotationImpl(sbs, X_FM.R(), q); in setQToFitTransformImpl()
H A DRigidBodyNodeSpec_Custom.h193 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, Vector& q) const { in setQToFitTransformImpl() argument
194 …impl.setQToFitTransform(sbs.getState(), X_FM, this->getNQInUse(sbs.getModelVars()), &q[this->getQI… in setQToFitTransformImpl()
H A DRigidBodyNodeSpec_FreeLine.h95 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
98 setQToFitTranslationImpl(sbs, X_FM.p(), q); // see below in setQToFitTransformImpl()
99 setQToFitRotationImpl(sbs, X_FM.R(), q); in setQToFitTransformImpl()
H A DRigidBodyNode_Weld.cpp92 Transform& X_FM) const override in calcX_FM()
94 X_FM.setToZero(); } in calcX_FM()
96 void setQToFitTransformImpl(const SBStateDigest& sbs, const Transform& X_FM, in setQToFitTransformImpl() argument
H A DRigidBodyNode.h397 (const SBStateDigest& sbs, const Transform& X_FM, Vector& q) const in setQToFitTransform() argument
398 { setQToFitTransformImpl(sbs, isReversed() ? Transform(~X_FM) : X_FM, q); } in setQToFitTransform()
H A DMobilizedBody.cpp2300 setDefaultTransform(const Transform& X_FM) { in setDefaultTransform() argument
2301 setDefaultTranslation(X_FM.p()); in setDefaultTransform()
2302 setDefaultQuaternion(X_FM.R().convertRotationToQuaternion()); in setDefaultTransform()
2909 setQToFitTransform(const State& state, const Transform& X_FM, in setQToFitTransform() argument
2915 const State& state, int nq, const Transform& X_FM) in setQToFitTransform() argument
2916 : OptimizerSystem(nq), impl(impl), state(state), X_FM(X_FM) {} in setQToFitTransform()
2921 f = (transform.p()-X_FM.p()).norm(); in setQToFitTransform()
2922 f += std::abs((~transform.R()*X_FM.R()).convertRotationToAngleAxis()[0]); in setQToFitTransform()
2928 const Transform& X_FM; in setQToFitTransform() member in SimTK::MobilizedBody::Custom::Implementation::setQToFitTransform::OptimizerFunction
2930 OptimizerFunction function(*this, state, nq, X_FM); in setQToFitTransform()
H A DMobilizedBodyImpl.h248 void setQToFitTransform(State& s, const Transform& X_FM) const;
1717 …void buildH(Vector& q, Vector& u, const Transform& X_FM, const Array_<const Function*>& functions,… in buildH() argument
1768 …void buildHdot(Vector& q, Vector& u, const Transform& X_FM, const Array_<const Function*>& functio… in buildHdot() argument
/dports/science/simbody/simbody-Simbody-3.7/Simbody/include/simbody/internal/
H A DMobilizedBody_Bushing.h129 Bushing& setDefaultTransform(const Transform& X_FM) in setDefaultTransform() argument
131 q.updSubVec<3>(0) = X_FM.R().convertRotationToBodyFixedXYZ(); in setDefaultTransform()
132 q.updSubVec<3>(3) = X_FM.p(); in setDefaultTransform()
H A DMobilizedBody_Custom.h346 virtual void setQToFitTransform(const State&, const Transform& X_FM, int nq, Real* q) const;
/dports/science/opensim-core/opensim-core-4.1/OpenSim/Simulation/Model/
H A DTwoFrameLinker.h447 SimTK::Transform X_FM = this->computeRelativeOffset(s); in computeDeflection() local
453 dq.updSubVec<3>(0) = X_FM.R().convertRotationToBodyFixedXYZ(); in computeDeflection()
455 dq.updSubVec<3>(3) = X_FM.p(); in computeDeflection()
471 SimTK::Transform X_FM = ~X_GF * X_GM; in computeRelativeVelocity() local
481 SimTK::Vec3 p_FM_G = X_GF.R() * X_FM.p(); // 15 flops in computeRelativeVelocity()
502 SimTK::Transform X_FM = this->computeRelativeOffset(s); in computeDeflectionRate() local
507 const SimTK::Vec3 w_FM_M = ~(X_FM.R()) * V_FM[0]; in computeDeflectionRate()
537 SimTK::Transform X_FM = ~X_GF * X_GM; in convertInternalForceToForcesOnFrames() local
557 SimTK::Vec3 p_FM_G = X_GF.R() * X_FM.p(); // 15 flops in convertInternalForceToForcesOnFrames()
/dports/science/simbody/simbody-Simbody-3.7/Simbody/tests/
H A DTestCustomMobilizedBodies.cpp94 void setQToFitTransform(const State&, const Transform& X_FM, int nq, Real* q) const override { in setQToFitTransform() argument
96 Vec3::updAs(q) = X_FM.p(); in setQToFitTransform()
200 void setQToFitTransform(const State& s, const Transform& X_FM, int nq, Real* q) const override { in setQToFitTransform() argument
203 Vec3::updAs(q) = X_FM.R().convertRotationToBodyFixedXYZ(); in setQToFitTransform()
207 Vec4::updAs(q) = X_FM.R().convertRotationToQuaternion().asVec4(); in setQToFitTransform()
315 void setQToFitTransform(const State& s, const Transform& X_FM, int nq, Real* q) const override { in setQToFitTransform() argument
318 Vec3::updAs(q) = X_FM.R().convertRotationToBodyFixedXYZ(); in setQToFitTransform()
322 Vec4::updAs(q) = X_FM.R().convertRotationToQuaternion().asVec4(); in setQToFitTransform()
324 Vec3::updAs(&q[nq-3]) = X_FM.p(); in setQToFitTransform()

12