MobilizedBody.h File Reference

This defines the MobilizedBody class, which associates a new body (the "child", "outboard", or "successor" body) with a mobilizer and a reference frame on an existing body (the "parent", "inboard", or "predecessor" body) that is already part of a SimbodyMatterSubsystem. More...

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Classes
class	SimTK::MobilizedBody
	A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion by constructing a multibody tree containing each body and its unique "mobilizer" (internal coordinate joint). More...

Namespaces
	SimTK
	This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols.

Detailed Description

This defines the MobilizedBody class, which associates a new body (the "child", "outboard", or "successor" body) with a mobilizer and a reference frame on an existing body (the "parent", "inboard", or "predecessor" body) that is already part of a SimbodyMatterSubsystem.

MobilizedBody is an abstract base class handle, with concrete classes defined for each kind of mobilizer. There are a set of built-in mobilizers and a generic "Custom" mobilizer (an actual abstract base class) from which advanced users may derive their own mobilizers.