Simbody 3.7
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Force_LinearBushing.h
Go to the documentation of this file.
1#ifndef SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_
2#define SimTK_SIMBODY_FORCE_LINEAR_BUSHING_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) 2009-12 Stanford University and the Authors. *
13 * Authors: Michael Sherman *
14 * Contributors: *
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
27#include "SimTKcommon.h"
29
36namespace SimTK {
102public:
125 const MobilizedBody& body1, const Transform& frameFOnB1,
126 const MobilizedBody& body2, const Transform& frameMOnB2,
127 const Vec6& stiffness, const Vec6& damping);
128
147 const MobilizedBody& body1,
148 const MobilizedBody& body2,
149 const Vec6& stiffness, const Vec6& damping);
150
153
154
155 //--------------------------------------------------------------------------
169
170
208
227 const Vec6& getDefaultStiffness() const;
233 const Vec6& getDefaultDamping() const;
235
236
237
238 //--------------------------------------------------------------------------
255
256
269 const Transform& X_B1F) const;
283 const Transform& X_B2M) const;
296 const Vec6& stiffness) const;
309 const Vec6& damping) const;
310
320 const Transform& getFrameOnBody1(const State& state) const;
330 const Transform& getFrameOnBody2(const State& state) const;
340 const Vec6& getStiffness(const State& state) const;
350 const Vec6& getDamping(const State& state) const;
352
353
354
355 //--------------------------------------------------------------------------
366
367
379 const Vec6& getQ(const State& state) const;
380
388 const Transform& getX_GF(const State& state) const;
389
397 const Transform& getX_GM(const State& state) const;
398
406 const Transform& getX_FM(const State& state) const;
408
409
410
411 //--------------------------------------------------------------------------
422
423
435 const Vec6& getQDot(const State& state) const;
436
448 const SpatialVec& getV_GF(const State& state) const;
449
461 const SpatialVec& getV_GM(const State& state) const;
462
475 const SpatialVec& getV_FM(const State& state) const;
477
478
479
480 //--------------------------------------------------------------------------
491
492
505 const Vec6& getF(const State& state) const;
506
516 const SpatialVec& getF_GM(const State& state) const;
517
528 const SpatialVec& getF_GF(const State& state) const;
530
531
532
533 //--------------------------------------------------------------------------
539
540
548 Real getPotentialEnergy(const State& state) const;
549
560 Real getPowerDissipation(const State& state) const;
561
575 Real getDissipatedEnergy(const State& state) const;
576
589 void setDissipatedEnergy(State& state, Real energy) const;
591
592 // Don't show this in Doxygen.
595 (LinearBushing, LinearBushingImpl, Force);
597};
598
599} // namespace SimTK
600
601#endif // SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition PrivateImplementation.h:343
Includes internal headers providing declarations for the basic SimTK Core classes,...
#define SimTK_SIMBODY_EXPORT
Definition Simbody/include/simbody/internal/common.h:68
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition Force_LinearBushing.h:101
LinearBushing & setDefaultStiffness(const Vec6 &stiffness)
Set the stiffnesses (spring constants) k that will be used by default for this Bushing; these must be...
LinearBushing & setDefaultFrameOnBody2(const Transform &X_B2M)
Set the frame M on body B2 that will be used by default as one of the frames connected by the bushing...
Real getDissipatedEnergy(const State &state) const
Obtain the total amount of energy dissipated by this Bushing since some arbitrary starting point.
LinearBushing(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Transform &frameFOnB1, const MobilizedBody &body2, const Transform &frameMOnB2, const Vec6 &stiffness, const Vec6 &damping)
Create a LinearBushing between a pair of arbitrary frames, one fixed to each of two bodies.
const Transform & getX_GM(const State &state) const
Obtain the spatial transform X_GM giving the location and orientation of body 2's frame M in Ground.
const Vec6 & getF(const State &state) const
Obtain the generalized forces f being applied by this Bushing force element on each of its six axes.
const Transform & getDefaultFrameOnBody2() const
Return the frame M on body B2 that will be used by default as one of the frames connected by the bush...
const LinearBushing & setFrameOnBody1(State &state, const Transform &X_B1F) const
Set the frame F on body B1 that will be used as one of the frames connected by the bushing when evalu...
const Vec6 & getDefaultStiffness() const
Return the stiffnesses k that will be used by default for this Bushing.
const SpatialVec & getF_GM(const State &state) const
Return the spatial force F_GM being applied by this Bushing to body 2 at its M frame,...
const Transform & getX_GF(const State &state) const
Obtain the spatial transform X_GF giving the location and orientation of body 1's frame F in Ground.
const LinearBushing & setFrameOnBody2(State &state, const Transform &X_B2M) const
Set the frame M on body B2 that will be used as one of the frames connected by the bushing when evalu...
const Vec6 & getQ(const State &state) const
Obtain the generalized coordinates last calculated by this force element.
const Vec6 & getDamping(const State &state) const
Return the damping coefficients c currently being used for this Bushing by this State.
const Transform & getX_FM(const State &state) const
Obtain the spatial transform X_FM giving the location and orientation of body 2's frame M in body 1's...
const Vec6 & getStiffness(const State &state) const
Return the stiffnesses (spring constants) k currently being used for this Bushing by this State.
Real getPowerDissipation(const State &state) const
Obtain the rate at which energy is being dissipated by this Bushing, that is, the power being lost.
const Transform & getFrameOnBody2(const State &state) const
Return the frame M on body B2 currently being used by this State as one of the frames connected by th...
const SpatialVec & getV_GM(const State &state) const
Obtain the spatial velocity V_GM giving the velocity of body 2's frame M in the Ground frame.
LinearBushing(GeneralForceSubsystem &forces, const MobilizedBody &body1, const MobilizedBody &body2, const Vec6 &stiffness, const Vec6 &damping)
Create a LinearBushing connecting the body frames of two bodies.
const Vec6 & getDefaultDamping() const
Return the damping coefficients c that will be used by default for this Bushing.
LinearBushing & setDefaultFrameOnBody1(const Transform &X_B1F)
Set the frame F on body B1 that will be used by default as one of the frames connected by the bushing...
const Transform & getFrameOnBody1(const State &state) const
Return the frame F on body B1 currently being used by this State as one of the frames connected by th...
const SpatialVec & getV_FM(const State &state) const
Obtain the spatial velocity V_FM giving the velocity of body 2's frame M in body 1's frame F,...
LinearBushing & setDefaultDamping(const Vec6 &damping)
Set the damping coefficients c that will be used by default for this Bushing; these must be nonnegati...
Real getPotentialEnergy(const State &state) const
Obtain the potential energy stored in this Bushing in the current configuration.
const LinearBushing & setStiffness(State &state, const Vec6 &stiffness) const
Set the stiffnesses (spring constants) k that will be used for this Bushing when evaluated using this...
LinearBushing()
Default constructor creates an empty handle.
Definition Force_LinearBushing.h:152
const LinearBushing & setDamping(State &state, const Vec6 &damping) const
Set the damping coefficients c that will be used for this Bushing when evaluated using this State.
const Transform & getDefaultFrameOnBody1() const
Return the frame F on body B1 that will be used by default as one of the frames connected by the bush...
const SpatialVec & getV_GF(const State &state) const
Obtain the spatial velocity V_GF giving the velocity of body 1's frame F in the Ground frame.
void setDissipatedEnergy(State &state, Real energy) const
Set the accumulated dissipated energy to an arbitrary value.
const Vec6 & getQDot(const State &state) const
Obtain the generalized coordinate derivatives last calculated by this force element.
const SpatialVec & getF_GF(const State &state) const
Return the spatial force F_GF being applied by this Bushing to body 1 at its F frame,...
This is the base class from which all Force element handle classes derive.
Definition Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition GeneralForceSubsystem.h:47
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
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