1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
59 (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this;
62 (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this;
65 (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this;
69 (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this;
73 (void)MobilizedBody::setDefaultOutboardFrame(X_BM);
return *
this;
81 return setDefaultQ(p_FM);
129 void setMobilizerTranslation(
State& s, const
Vec3& p_FM)
const {
130 setTranslation(s,p_FM);
134 const
Vec3& getMobilizerTranslation(const
State& s)
const {
135 return getTranslation(s);
139 void setMobilizerVelocity(
State& s, const
Vec3& v_FM)
const {
144 const
Vec3& getMobilizerVelocity(const
State& s)
const {
145 return getVelocity(s);
149 const
Vec3& getMobilizerAcceleration(const
State& s)
const {
150 return getAcceleration(s);
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 DEPRECATED_14(MSG)
Definition SimTKcommon/include/SimTKcommon/internal/common.h:289
#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 translational mobilities describing the Cartesian motion of a point.
Definition MobilizedBody_Translation.h:38
Translation & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Translation.h:68
const Vec3 & getU(const State &) const
const Vec3 & getDefaultQ() const
const Vec3 & getVelocity(const State &s) const
Get the current value of the u's for this mobilizer from the given State.
Definition MobilizedBody_Translation.h:113
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
Translation(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Translation & setDefaultQ(const Vec3 &q)
const Vec3 & getQ(const State &) const
const Vec3 & getQDotDot(const State &) const
void setTranslation(State &s, const Vec3 &p_FM) const
Set the current value of q's in the given State.
Definition MobilizedBody_Translation.h:92
const Vec3 & getAcceleration(const State &s) const
Get the current value of the udot's for this mobilizer from the given State, which must be realized t...
Definition MobilizedBody_Translation.h:121
Translation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Translation.h:64
const Vec3 & getDefaultTranslation() const
Get the topological default values for the initial q's.
Definition MobilizedBody_Translation.h:85
Translation & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Translation.h:72
Vec3 & updMyPartU(const State &, Vector &ulike) const
Translation()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Tra...
Definition MobilizedBody_Translation.h:42
Translation & setDefaultTranslation(const Vec3 &p_FM)
This is just a nicer name for setting this mobilizer's topological default generalized coordinates q,...
Definition MobilizedBody_Translation.h:80
const Vec3 & getMyPartQ(const State &, const Vector &qlike) const
const Vec3 & getTranslation(const State &s) const
Get the current value of the q's for this mobilizer from the given State.
Definition MobilizedBody_Translation.h:99
Translation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Translation.h:58
Translation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Translation.h:61
const Vec3 & getQDot(const State &) const
void setU(State &, const Vec3 &) const
const Vec3 & getUDot(const State &) const
void setQ(State &, const Vec3 &) const
Vec3 & updMyPartQ(const State &, Vector &qlike) const
Translation(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Translation mobilizer between an existing parent (inboard) body P and a new child (outboard)...
void setVelocity(State &s, const Vec3 &v_FM) const
Set the current value of u's in the given State.
Definition MobilizedBody_Translation.h:106
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