1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
81 return getMyPartU(s,mobilityForces);
84 updMyPartU(s,mobilityForces) += force;
111 { (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this; }
113 { (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this; }
115 { (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this; }
117 { (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this; }
119 { (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
One mobility – translation along the common x axis of the F (inboard) and M (outboard) mobilizer fram...
Definition MobilizedBody_Slider.h:46
Slider(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
void setRate(State &s, Real rateInLengthPerTime)
Definition MobilizedBody_Slider.h:76
Slider & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Slider.h:116
Real getU(const State &) const
Real getMyPartU(const State &, const Vector &ulike) const
Slider & setDefaultQ(Real)
Real getQ(const State &) const
void setU(State &, Real) const
Real getAppliedForce(const State &s, const Vector &mobilityForces) const
Definition MobilizedBody_Slider.h:80
Slider & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Slider.h:112
void setLength(State &s, Real length)
Definition MobilizedBody_Slider.h:73
Slider & setDefaultLength(Real length)
Definition MobilizedBody_Slider.h:68
Real getRate(const State &s) const
Definition MobilizedBody_Slider.h:77
Slider()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sli...
Definition MobilizedBody_Slider.h:50
Slider(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Slider mobilizer between an existing parent (inboard) body P and a new child (outboard) body...
Real getDefaultLength() const
Definition MobilizedBody_Slider.h:69
Slider & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Slider.h:110
void applyForce(const State &s, Real force, Vector &mobilityForces) const
Definition MobilizedBody_Slider.h:83
Real & updMyPartU(const State &, Vector &ulike) const
Real & updMyPartQ(const State &, Vector &qlike) const
Real getMyPartQ(const State &, const Vector &qlike) const
void setQ(State &, Real) const
Slider & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Slider.h:114
Slider & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Slider.h:118
Real getLength(const State &s) const
Definition MobilizedBody_Slider.h:74
Real getUDot(const State &) const
Real getQDotDot(const State &) const
Real getQDot(const State &) const
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
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