Simbody  3.5
Force_MobilityDiscreteForce.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_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) 2013 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"
28 #include "simbody/internal/Force.h"
29 
35 namespace SimTK {
36 
53 public:
73  const MobilizedBody& mobod,
74  MobilizerUIndex whichU,
75  Real defaultForce=0);
76 
77 
82  const MobilizedBody& mobod,
83  Real defaultForce=0)
84  { // Invoke the other constructor.
85  new(this) MobilityDiscreteForce(forces, mobod, MobilizerUIndex(0),
86  defaultForce);
87  }
88 
91 
102  MobilityDiscreteForce& setDefaultMobilityForce(Real defaultForce);
103 
109  Real getDefaultMobilityForce() const;
110 
114  void setMobilityForce(State& state, Real f) const;
120  Real getMobilityForce(const State& state) const;
121 
124  MobilityDiscreteForceImpl, Force);
126 };
127 
128 } // namespace SimTK
129 
130 #endif // SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
A discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
MobilityDiscreteForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, Real defaultForce=0)
Alternate constructor signature for when the mobilizer has only a single generalized speed...
Definition: Force_MobilityDiscreteForce.h:81
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:593
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
MobilityDiscreteForce()
Default constructor creates an empty handle.
Definition: Force_MobilityDiscreteForce.h:90
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...