1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
71 (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this;
74 (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this;
77 (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this;
81 (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this;
85 (void)MobilizedBody::setDefaultOutboardFrame(X_BM);
return *
this;
109 return Rotation(getDefaultQuaternion());
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
Unrestricted motion for a rigid body (six mobilities).
Definition MobilizedBody_Free.h:52
Free & setDefaultQ(const Vec7 &q)
Rotation getDefaultRotation() const
Definition MobilizedBody_Free.h:108
Free & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Free.h:73
Free & setDefaultTransform(const Transform &)
Free & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Free.h:70
Free()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Fre...
Definition MobilizedBody_Free.h:56
Free & setDefaultTranslation(const Vec3 &)
const Vec6 & getU(const State &) const
const Vec7 & getDefaultQ() const
void setU(State &, const Vec6 &) const
Vec6 & updMyPartU(const State &, Vector &ulike) const
Free & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Free.h:76
const Vec7 & getQ(const State &) const
Free & setDefaultRotation(const Rotation &)
const Vec3 & getDefaultTranslation() const
const Vec7 & getQDot(const State &) const
Free & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Free.h:80
void setQ(State &, const Vec7 &) const
const Quaternion & getDefaultQuaternion() const
const Vec7 & getMyPartQ(const State &, const Vector &qlike) const
Free(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Free(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Free mobilizer between an existing parent (inboard) body P and a new child (outboard) body B...
Free & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Free.h:84
Vec7 & updMyPartQ(const State &, Vector &qlike) const
const Vec6 & getUDot(const State &) const
const Vec7 & getQDotDot(const State &) const
Free & setDefaultQuaternion(const Quaternion &)
const Vec6 & getMyPartU(const State &, const Vector &ulike) const
Transform getDefaultTransform() const
Definition MobilizedBody_Free.h:111
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
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