Simbody 3.7
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MobilizedBody_Screw.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_SCREW_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
40public:
43 Screw() {}
44
50 Screw(MobilizedBody& parent, const Transform& X_PF,
51 const Body& bodyInfo, const Transform& X_BM,
52 Real pitch, Direction=Forward);
53
56 Screw(MobilizedBody& parent, const Body& bodyInfo, Real pitch,
57 Direction=Forward);
58
59
61 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
62 }
64 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
65 }
67 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
68 }
69
71 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
72 }
73
75 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
76 }
77
80
83
84 Real getQ(const State&) const;
85 Real getQDot(const State&) const;
86 Real getQDotDot(const State&) const;
87 Real getU(const State&) const;
88 Real getUDot(const State&) const;
89
90 void setQ(State&, Real) const;
91 void setU(State&, Real) const;
92
93 Real getMyPartQ(const State&, const Vector& qlike) const;
94 Real getMyPartU(const State&, const Vector& ulike) const;
95
96 Real& updMyPartQ(const State&, Vector& qlike) const;
97 Real& updMyPartU(const State&, Vector& ulike) const;
98
// Don't let doxygen see this
102};
103
104} // namespace SimTK
105
106#endif // SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
107
108
109
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
One mobility – coordinated rotation and translation along the common z axis of the inboard and outboa...
Definition MobilizedBody_Screw.h:39
Real getUDot(const State &) const
Screw & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Screw.h:66
Real getQ(const State &) const
Real getU(const State &) const
Real getQDotDot(const State &) const
Real getMyPartU(const State &, const Vector &ulike) const
Real & updMyPartQ(const State &, Vector &qlike) const
Real getMyPartQ(const State &, const Vector &qlike) const
Real & updMyPartU(const State &, Vector &ulike) const
Real getQDot(const State &) const
Screw & setDefaultPitch(Real pitch)
void setQ(State &, Real) const
void setU(State &, Real) const
Screw(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real pitch, Direction=Forward)
Create a Screw mobilizer between an existing parent (inboard) body P and a new child (outboard) body ...
Screw & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Screw.h:63
Screw & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Screw.h:70
Screw()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Scr...
Definition MobilizedBody_Screw.h:43
Screw & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Screw.h:74
Screw & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Screw.h:60
Screw(MobilizedBody &parent, const Body &bodyInfo, Real pitch, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
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
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