1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
61 (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this;
64 (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this;
67 (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this;
71 (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this;
75 (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
Two mobilities – rotation about the x axis, followed by a rotation about the new y axis.
Definition MobilizedBody_Universal.h:40
Universal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Universal.h:63
Universal & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Universal.h:70
Universal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Uni...
Definition MobilizedBody_Universal.h:44
Universal & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Universal.h:74
Universal(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Universal mobilizer between an existing parent (inboard) body P and a new child (outboard) b...
Universal & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Universal.h:66
Universal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Universal.h:60
Universal(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
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 is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37