1 #ifndef SimTK_SIMBODY_CABLE_PATH_H_ 2 #define SimTK_SIMBODY_CABLE_PATH_H_ 40 class CableTrackerSubsystem;
100 const Vec3& defaultOriginPoint,
102 const Vec3& defaultTerminationPoint);
141 void solveForInitialCablePath(
State& state)
const;
146 int getNumObstacles()
const;
154 Real getCableLength(
const State& state)
const;
161 Real getCableLengthDot(
const State& state)
const;
168 void applyBodyForces(
const State& state,
Real tension,
182 Real getIntegratedCableLengthDot(
const State& state)
const;
188 void setIntegratedCableLengthDot(
State& state,
Real value)
const;
195 const Impl&
getImpl()
const {assert(impl);
return *impl;}
233 const Transform& getDefaultTransform()
const;
254 bool isDisabledByDefault()
const;
279 const Impl&
getImpl()
const {assert(impl);
return *impl;}
300 const Vec3& defaultStation);
354 Surface& setContactPointHints(
const Vec3& startHint,
355 const Vec3& endHint);
371 #endif // SimTK_SIMBODY_CABLE_PATH_H_ SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)
This is the vector class intended to appear in user code for large, variable size column vectors...
Definition: BigMatrix.h:171
Apache License January AND DISTRIBUTION Definitions License shall mean the terms and conditions for and distribution as defined by Sections through of this document Licensor shall mean the copyright owner or entity authorized by the copyright owner that is granting the License Legal Entity shall mean the union of the acting entity and all other entities that control are controlled by or are under common control with that entity For the purposes of this definition control direct or to cause the direction or management of such whether by contract or including but not limited to software source documentation source
Definition: LICENSE.txt:26
Surface & setDecorativeGeometry(const DecorativeGeometry &viz)
Provide visualization geometry to be used to display this obstacle.
Definition: CablePath.h:335
This is a unique integer type for identifying obstacles comprising a particular cable path...
CableObstacle & setDecorativeGeometry(const DecorativeGeometry &viz)
Replace the decorative geometry used for automatically-generated visualization of this obstacle when ...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Impl & updImpl()
Definition: CablePath.h:280
~CablePath()
Delete the cable path if this handle was the last reference to it.
Definition: CablePath.h:118
Every Simbody header and source file should include this header before any other Simbody header...
This is a point through which the cable must pass.
Definition: CablePath.h:294
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
Impl & updImpl()
Definition: CablePath.h:196
This subsystem tracks the paths of massless, frictionless cables that take the shortest route between...
Definition: CableTrackerSubsystem.h:68
CablePath()
Default constructor creates an empty cable path not associated with any subsystem; don't use this...
Definition: CablePath.h:193
const Impl & getImpl() const
Definition: CablePath.h:195
~CableObstacle()
Destructor clears the handle, deleting the referenced object if this was the last reference...
Definition: CablePath.h:228
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
ViaPoint()
Default constructor creates an empty handle.
Definition: CablePath.h:297
An obstacle is any significant object along the cable path – one of the end points, a via point, or a surface.
Definition: CablePath.h:210
This class represents the path of a frictionless cable from an origin point fixed to a body...
Definition: CablePath.h:92
Surface()
Default constructor creates an empty handle.
Definition: CablePath.h:323
bool isEmpty() const
See if this handle is empty.
Definition: CablePath.h:275
however the hybrid system can request that if in which case “end of step” is treated like any other event External events are typically handled through the end of step event mechanism For the end of step function can look at the keyboard etc and respond accordingly a termination event occurs either when the integrator advances to a designated “final time” for the or when an event handler indicates that the simulation must be terminated for some other reason Event trigger transition details This section probably covers more than you really want to know about event triggers But if you run into some mysterious behavior regarding your event trigger functions at some point
Definition: SimmathUserGuide.doc:228
This obstacle is a solid object represented by a ContactGeometry surface.
Definition: CablePath.h:320
CableObstacle()
Create an empty obstacle handle that can refer to any type of obstacle.
Definition: CablePath.h:216
const Impl & getImpl() const
Definition: CablePath.h:279