1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_
104 Real azimuthOffset,
bool azimuthNegated,
105 Real zenithOffset,
bool zenithNegated,
110 (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this;
113 (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this;
116 (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this;
120 (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this;
124 (void)MobilizedBody::setDefaultOutboardFrame(X_BM);
return *
this;
129 Vec3 q = getDefaultQ(); q.
updSubVec<2>(0) = a; setDefaultQ(q);
133 Vec3 q = getDefaultQ(); q[2] = r; setDefaultQ(q);
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 class, along with its sister class CoordinateDirection, provides convenient manipulation of the ...
Definition CoordinateAxis.h:53
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition DecorativeGeometry.h:86
Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x.
Definition MobilizedBody_SphericalCoords.h:77
bool isZenithNegated() const
bool isAzimuthNegated() const
SphericalCoords & setRadialAxis(CoordinateAxis)
Vec3 & updMyPartU(const State &, Vector &ulike) const
void setAngles(State &s, const Vec2 &a)
Definition MobilizedBody_SphericalCoords.h:149
const Vec3 & getMyPartQ(const State &, const Vector &qlike) const
const Vec3 & getUDot(const State &) const
SphericalCoords & setDefaultQ(const Vec3 &q)
void setU(State &, const Vec3 &) const
SphericalCoords & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_SphericalCoords.h:109
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
SphericalCoords(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real azimuthOffset, bool azimuthNegated, Real zenithOffset, bool zenithNegated, CoordinateAxis radialAxis, bool radialNegated, Direction=Forward)
Use this constructor to specify the general case described above.
SphericalCoords & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_SphericalCoords.h:112
void setQ(State &, const Vec3 &) const
const Vec3 & getQDot(const State &) const
void setRadius(State &s, Real r)
Definition MobilizedBody_SphericalCoords.h:150
SphericalCoords & setDefaultAngles(const Vec2 &a)
Definition MobilizedBody_SphericalCoords.h:128
const Vec2 & getDefaultAngles() const
Definition MobilizedBody_SphericalCoords.h:141
SphericalCoords & setNegateZenith(bool)
SphericalCoords(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
CoordinateAxis getRadialAxis() const
const Vec3 & getQDotDot(const State &) const
bool isRadialNegated() const
SphericalCoords & setNegateRadial(bool)
SphericalCoords(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a SphericalCoords mobilizer between an existing parent (inboard) body P and a new child (outbo...
Real getDefaultTranslation() const
Definition MobilizedBody_SphericalCoords.h:142
const Vec2 & getAngles(const State &s) const
Definition MobilizedBody_SphericalCoords.h:152
const Vec3 & getQ(const State &) const
SphericalCoords & setDefaultRadius(Real r)
Definition MobilizedBody_SphericalCoords.h:132
const Vec3 & getU(const State &) const
SphericalCoords & setNegateAzimuth(bool)
const Vec3 & getDefaultQ() const
Vec3 & updMyPartQ(const State &, Vector &qlike) const
Real getRadius(const State &s) const
Definition MobilizedBody_SphericalCoords.h:153
SphericalCoords & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_SphericalCoords.h:123
SphericalCoords()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sph...
Definition MobilizedBody_SphericalCoords.h:81
SphericalCoords & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_SphericalCoords.h:115
SphericalCoords & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_SphericalCoords.h:119
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