Simbody 3.7
Loading...
Searching...
No Matches
MobilizedBody_LineOrientation.h
Go to the documentation of this file.
1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_LINEORIENTATION_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_LINEORIENTATION_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 *
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
60public:
64
72 const Body& bodyInfo, const Transform& X_BM,
73 Direction=Forward);
74
77 LineOrientation(MobilizedBody& parent, const Body& bodyInfo,
78 Direction=Forward);
79
81 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
82 }
84 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
85 }
87 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
88 }
89
91 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
92 }
93
95 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
96 }
97
98 // This is just a nicer name for the generalized coordinate.
100 return setDefaultQ(R_FM.convertRotationToQuaternion());
101 }
102 Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}
103
104 // Generic default state Topology methods.
105 const Quaternion& getDefaultQ() const;
107
108 const Vec4& getQ(const State&) const;
109 const Vec4& getQDot(const State&) const;
110 const Vec4& getQDotDot(const State&) const;
111 const Vec2& getU(const State&) const;
112 const Vec2& getUDot(const State&) const;
113
114 void setQ(State&, const Vec4&) const;
115 void setU(State&, const Vec2&) const;
116
117 const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
118 const Vec2& getMyPartU(const State&, const Vector& ulike) const;
119
120 Vec4& updMyPartQ(const State&, Vector& qlike) const;
121 Vec2& updMyPartU(const State&, Vector& ulike) const;
122
// hide from Doxygen
125 LineOrientationImpl, MobilizedBody);
127};
128
129} // namespace SimTK
130
131#endif // SimTK_SIMBODY_MOBILIZED_BODY_LINEORIENTATION_H_
132
133
134
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
Two mobilities, representing unrestricted orientation for a body which is inertialess along its own z...
Definition MobilizedBody_LineOrientation.h:59
const Vec2 & getUDot(const State &) const
LineOrientation & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_LineOrientation.h:94
const Vec4 & getMyPartQ(const State &, const Vector &qlike) const
Vec4 & updMyPartQ(const State &, Vector &qlike) const
LineOrientation()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Lin...
Definition MobilizedBody_LineOrientation.h:63
void setQ(State &, const Vec4 &) const
LineOrientation & setDefaultRotation(const Rotation &R_FM)
Definition MobilizedBody_LineOrientation.h:99
void setU(State &, const Vec2 &) const
LineOrientation & setDefaultQ(const Quaternion &q)
LineOrientation(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a LineOrientation mobilizer between an existing parent (inboard) body P and a new child (outbo...
const Quaternion & getDefaultQ() const
LineOrientation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_LineOrientation.h:83
const Vec4 & getQ(const State &) const
Rotation getDefaultRotation() const
Definition MobilizedBody_LineOrientation.h:102
LineOrientation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_LineOrientation.h:80
LineOrientation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_LineOrientation.h:86
const Vec4 & getQDotDot(const State &) const
LineOrientation(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 & getMyPartU(const State &, const Vector &ulike) const
Vec2 & updMyPartU(const State &, Vector &ulike) const
const Vec4 & getQDot(const State &) const
LineOrientation & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_LineOrientation.h:90
const Vec2 & getU(const State &) const
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
A Quaternion is a Vec4 with the following behavior:
Definition Quaternion.h:65
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition State.h:280
This is a fixed-length column vector designed for no-overhead inline computation.
Definition Vec.h:184
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37