Understanding of the reactions in AnyKinRotational when using the RotAxesAngles

Main Forum
1

Hi,

I could understand the reactions in AnyStdJoint here:
http://wiki.anyscript.org/images/3/33/AnyStdJointReactions.any

We can define a AnyStdJoint very easy:

AnyStdJoint FixJoint1 =
{
   AnyRefFrame& ref1 = ..Ref1;
   AnyRefFrame& ref2 = ..Ref2;
};

And we can define a AnyStdJoint in a different way:

  AnyKinEqSimpleDriver FixJoint2 =
  {
    AnyKinLinear Lin =
    {
      Ref = 0;
      AnyRefFrame& ref1 = ...Ref1;
      AnyRefFrame& ref2 = ...Ref2;
    };
    AnyKinRotational Rot=
    {
      //Ref = 0;
      [b]Type = RotAxesAngles;[/b]
      Axis1 = x; Axis2 = y; Axis3 = z;
      AnyRefFrame& ref1 = ...Ref1;
      AnyRefFrame& ref2 = ...Ref2;
    };
    MeasureOrganizer = {0,1,2,3,4,5};
    DriverPos = {0, 0, 0, 0, 0, 0};
    DriverVel = {0, 0, 0, 0, 0, 0};  
  };

For the reactions in the AnyStdJoint, we can understand that the reaction forces and torques are like this:
Fx,Fy,Fz,Mz,My,Mx = Fout[0],Fout[1],Fout[2],Fout[3],Fout[4],Fout[5]

Then in the case of FixJoint2 defined as AnyKinEqSimpleDriver using AnyKinLinear and AnyKinRotational class above code, I guess like this:
Fx,Fy,Fz,Mx,My,Mz = Fout[0],Fout[1],Fout[2],Fout[3],Fout[4],Fout[5]

Because in the AnyKinRotational object I set its type as ‘RotAxesAngles’ and set their axes as ‘Axis1 = x’, ‘Axis2 = y’ and ‘Axis3 = z’.

I would just like to know whether my guess is right or wrong.

Best regards and thanks in advance,
Moonki

2

Hi Moonki, this is correct.

Best regards, Sylvain.

3

Hi Sylvain,

Thanks for your answer.

Best regards,
Moonki

4