Simbody 3.7
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MobilizedBody_Planar.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_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) 2007-13 Stanford University and the Authors. *
13 * Authors: Michael Sherman *
14 * Contributors: Paul Mitiguy, Peter Eastman *
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
31
32namespace SimTK {
33
39public:
42 Planar() {}
43
49 Planar(MobilizedBody& parent, const Transform& X_PF,
50 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
51
54 Planar(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
55
57 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
58 }
60 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
61 }
63 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
64 }
65
67 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
68 }
69
71 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
72 }
73
74 // Friendly, mobilizer-specific access to coordinates and speeds.
76 Vec3 q = getDefaultQ(); q[0] = a; setDefaultQ(q);
77 return *this;
78 }
80 Vec3 q = getDefaultQ(); q.updSubVec<2>(1) = r; setDefaultQ(q);
81 return *this;
82 }
83
84 Real getDefaultAngle() const {return getDefaultQ()[0];}
85 const Vec2& getDefaultTranslation() const {return getDefaultQ().getSubVec<2>(1);}
86
87 void setAngle (State& s, Real a) {setOneQ(s,0,a);}
88 void setTranslation(State& s, const Vec2& r) {setOneQ(s,1,r[0]); setOneQ(s,2,r[1]);}
89
90 Real getAngle(const State& s) const {return getQ(s)[0];}
91 const Vec2& getTranslation(const State& s) const {return getQ(s).getSubVec<2>(1);}
92
93 // Generic default state Topology methods.
94 const Vec3& getDefaultQ() const;
96
97 const Vec3& getQ(const State&) const;
98 const Vec3& getQDot(const State&) const;
99 const Vec3& getQDotDot(const State&) const;
100 const Vec3& getU(const State&) const;
101 const Vec3& getUDot(const State&) const;
102
103 void setQ(State&, const Vec3&) const;
104 void setU(State&, const Vec3&) const;
105
106 const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
107 const Vec3& getMyPartU(const State&, const Vector& ulike) const;
108
109 Vec3& updMyPartQ(const State&, Vector& qlike) const;
110 Vec3& updMyPartU(const State&, Vector& ulike) const;
111
// Don't let doxygen see this
115};
116
117} // namespace SimTK
118
119#endif // SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_H_
120
121
122
This defines the MobilizedBody class, which associates a new body (the "child", "outboard",...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition PrivateImplementation.h:343
#define SimTK_SIMBODY_EXPORT
Definition Simbody/include/simbody/internal/common.h:68
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition Body.h:55
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition DecorativeGeometry.h:86
Three mobilities – z rotation and x,y translation.
Definition MobilizedBody_Planar.h:38
Planar & setDefaultTranslation(const Vec2 &r)
Definition MobilizedBody_Planar.h:79
const Vec3 & getU(const State &) const
Planar & setDefaultAngle(Real a)
Definition MobilizedBody_Planar.h:75
const Vec3 & getMyPartQ(const State &, const Vector &qlike) const
void setU(State &, const Vec3 &) const
Planar & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Planar.h:62
Real getDefaultAngle() const
Definition MobilizedBody_Planar.h:84
const Vec3 & getQ(const State &) const
Planar & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Planar.h:70
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
void setQ(State &, const Vec3 &) const
Planar(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
const Vec2 & getTranslation(const State &s) const
Definition MobilizedBody_Planar.h:91
Real getAngle(const State &s) const
Definition MobilizedBody_Planar.h:90
Planar & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Planar.h:66
Planar(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Planar mobilizer between an existing parent (inboard) body P and a new child (outboard) body...
void setTranslation(State &s, const Vec2 &r)
Definition MobilizedBody_Planar.h:88
const Vec3 & getQDot(const State &) const
Planar & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Planar.h:56
const Vec3 & getUDot(const State &) const
void setAngle(State &s, Real a)
Definition MobilizedBody_Planar.h:87
Vec3 & updMyPartU(const State &, Vector &ulike) const
const Vec3 & getQDotDot(const State &) const
Vec3 & updMyPartQ(const State &, Vector &qlike) const
Planar()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pla...
Definition MobilizedBody_Planar.h:42
Planar & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Planar.h:59
Planar & setDefaultQ(const Vec3 &q)
const Vec3 & getDefaultQ() const
const Vec2 & getDefaultTranslation() const
Definition MobilizedBody_Planar.h:85
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition MobilizedBody.h:181
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition State.h:280
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition Vec.h:837
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition Vec.h:827
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