Simbody 3.7
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Force_DiscreteForces.h
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1#ifndef SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
2#define SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
3
4/* -------------------------------------------------------------------------- *
5 * Simbody(tm) *
6 * -------------------------------------------------------------------------- *
7 * This is part of the SimTK biosimulation toolkit originating from *
8 * Simbios, the NIH National Center for Physics-Based Simulation of *
9 * Biological Structures at Stanford, funded under the NIH Roadmap for *
10 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11 * *
12 * Portions copyright (c) 2013 Stanford University and the Authors. *
13 * Authors: Michael Sherman *
14 * Contributors: *
15 * *
16 * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17 * not use this file except in compliance with the License. You may obtain a *
18 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19 * *
20 * Unless required by applicable law or agreed to in writing, software *
21 * distributed under the License is distributed on an "AS IS" BASIS, *
22 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23 * See the License for the specific language governing permissions and *
24 * limitations under the License. *
25 * -------------------------------------------------------------------------- */
26
27#include "SimTKcommon.h"
29
35namespace SimTK {
36
42public:
50 const SimbodyMatterSubsystem& matter);
51
52
55
58 void clearAllForces(State& state) const {
59 clearAllMobilityForces(state);
60 clearAllBodyForces(state);
61 }
62
65 void clearAllMobilityForces(State& state) const;
68 void clearAllBodyForces(State& state) const;
69
82 void setOneMobilityForce(State& state, const MobilizedBody& mobod,
83 MobilizerUIndex whichU, Real force) const;
84
99 void setOneBodyForce(State& state, const MobilizedBody& mobod,
100 const SpatialVec& spatialForceInG) const;
101
120 void addForceToBodyPoint(State& state, const MobilizedBody& mobod,
121 const Vec3& pointInB,
122 const Vec3& forceInG) const;
123
132 void setAllMobilityForces(State& state, const Vector& f) const;
133
145 const Vector_<SpatialVec>& bodyForcesInG) const;
146
151 Real getOneMobilityForce(const State& state, const MobilizedBody& mobod,
152 MobilizerUIndex whichU) const;
153
159 const MobilizedBody& mobod) const;
160
166 const Vector& getAllMobilityForces(const State& state) const;
172 const Vector_<SpatialVec>& getAllBodyForces(const State& state) const;
173
176 DiscreteForcesImpl, Force);
178};
179
180} // namespace SimTK
181
182#endif // SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition PrivateImplementation.h:343
Includes internal headers providing declarations for the basic SimTK Core classes,...
#define SimTK_SIMBODY_EXPORT
Definition Simbody/include/simbody/internal/common.h:68
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition Force_DiscreteForces.h:41
void setAllMobilityForces(State &state, const Vector &f) const
Set all the generalized forces at once.
void addForceToBodyPoint(State &state, const MobilizedBody &mobod, const Vec3 &pointInB, const Vec3 &forceInG) const
Convenience method to add in a force applied at a point (station) on a particular body into the force...
DiscreteForces()
Default constructor creates an empty handle.
Definition Force_DiscreteForces.h:54
const Vector & getAllMobilityForces(const State &state) const
Get a reference to the internal Vector of all the generalized forces currently set to be applied by t...
void setOneBodyForce(State &state, const MobilizedBody &mobod, const SpatialVec &spatialForceInG) const
Change the value of the discrete spatial force (force and torque) to be applied to a body in the give...
const Vector_< SpatialVec > & getAllBodyForces(const State &state) const
Get a reference to the internal Vector of all the body spatial forces currently set to be applied by ...
void clearAllBodyForces(State &state) const
Set to zero all body spatial forces (force and torques) stored by this force element in the given sta...
Real getOneMobilityForce(const State &state, const MobilizedBody &mobod, MobilizerUIndex whichU) const
Return the value for a generalized force that is stored in the given state.
void clearAllMobilityForces(State &state) const
Set to zero all generalized forces stored by this force element in the given state.
DiscreteForces(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter)
Create a DiscreteForces force element.
void clearAllForces(State &state) const
Set to zero all forces stored by this force element in the given state, including both generalized fo...
Definition Force_DiscreteForces.h:58
void setOneMobilityForce(State &state, const MobilizedBody &mobod, MobilizerUIndex whichU, Real force) const
Change the value of a generalized force to be applied in the given state.
void setAllBodyForces(State &state, const Vector_< SpatialVec > &bodyForcesInG) const
Set all the body spatial forces at once.
SpatialVec getOneBodyForce(const State &state, const MobilizedBody &mobod) const
Return the value for the discrete spatial force (force and torque) on a particular body that is store...
This is the base class from which all Force element handle classes derive.
Definition Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition GeneralForceSubsystem.h:47
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition SimbodyMatterSubsystem.h:133
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition State.h:280
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37
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:606