1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
63 (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this;
66 (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this;
69 (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this;
73 (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this;
77 (void)MobilizedBody::setDefaultOutboardFrame(X_BM);
return *
this;
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 – unrestricted orientation modeled with a quaternion which is never singular.
Definition MobilizedBody_Ball.h:44
void setU(State &, const Vec3 &) const
void setQ(State &, const Vec4 &) const
const Quaternion & getDefaultQ() const
const Vec3 & getU(const State &) const
const Vec4 & getQ(const State &) const
Ball & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Ball.h:76
Ball & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Ball.h:62
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
const Vec3 & getUDot(const State &) const
Ball(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Ball mobilizer between an existing parent (inboard) body P and a new child (outboard) body B...
Ball & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Ball.h:72
Ball & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Ball.h:68
Ball & setDefaultQ(const Quaternion &q)
const Vec4 & getMyPartQ(const State &, const Vector &qlike) const
Vec4 & updMyPartQ(const State &, Vector &qlike) const
Ball(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Rotation getDefaultRotation() const
Definition MobilizedBody_Ball.h:84
Ball & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Ball.h:65
Ball & setDefaultRadius(Real r)
Vec3 & updMyPartU(const State &, Vector &ulike) const
Ball()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Bal...
Definition MobilizedBody_Ball.h:48
const Vec4 & getQDot(const State &) const
const Vec4 & getQDotDot(const State &) const
Real getDefaultRadius() const
Ball & setDefaultRotation(const Rotation &R_FM)
Definition MobilizedBody_Ball.h:81
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
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