DynaMechs Class Hierarchy
The class hierarchy is as follows (indentation indicates subclassing):
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dmObject - base class containing name and generic user data support
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dmSystem - abstract bases class for all simulated systems
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dmEnvironment - encapsulates information about the environment (e.g.
gravity, prismatic terrain, hydrodynamic parameters, etc.). For hydrodynamic
simulation, the fluid acceleration can be set and integrated to compute fluid
velocity
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dmTreadmill - has a treadmill that can be simulated
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dmArticulation - contains tree topology information for system
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dmClosedArticulation - articulations with closed loops
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dmLink(dmTransform) - abstract base class for all transformations
in the system
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dmStaticRootLink - a full transform (constant) in the inertial frame
(should only be the first link).
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dmZScrewTxLink - an constant axial screw transfrom.
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dmRigidBody - container for dynamic (and hydrodynamic) properties
for a rigid body, and a set of dmForce objects (if desired).
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dmMobileBaseLink - equations for 6 DOF (full) motion
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dmSphericalLink - equations for 3 revolute DOFs (full rotational
freedom)
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dmQuaternionLink - equations for 3 revolute DOFs using quaternion
math (to avoid gimbal lock problems).
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dmMDHLink - abstract base class and equations for 1 DOF joints specified
using Modified Denavit-Hartenberg parameters
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dmRevoluteLink - 1 DOF rotational link
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dmPrismaticLink - 1 DOF translational link
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dmSecondaryJoint - secondary joints in a closed-loop
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dmSecondaryRevoluteJoint - 1 DOF revotational secondary joint
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dmSecondaryPrismaticJoint - 1 DOF translational secondary joint
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dmSecondarySphericalJoint - 3 rotational DOFs in a secondary joint
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dmActuator - abstract base class for actuators
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dmRevDCMotor - simulations electro-mechanical characteristics of
DC motor and gears.
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dmForce - abstract class for force models; contained by the dmRigidBody
class
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dmContactModel - computes a compliant point contact force with prismatic
terrain
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dmSecondaryForce - secondary joint compliant force class.
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dmIntegrator - abstract base class for all integrators; contains a list
of dmSystem objects to be simulated.
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dmIntegEuler - first order euler integrator
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dmIntegRK4 - 4th order Runge-Kutta integrator
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dmIntegRK45 - adaptive stepsize embedded fourth/fifth order Runge-Kutta
integrator