Simbody  3.5
MobilizedBody_Slider.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_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) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
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 
31 
32 namespace SimTK {
33 
47 public:
50  Slider() {}
51 
57  Slider(MobilizedBody& parent, const Transform& X_PF,
58  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
59 
62  Slider(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
63 
64 
65  // SPECIALIZED INTERFACE FOR SLIDER MOBILIZER
66 
67  // "Length" is just a nicer name for a sliding joint's lone generalized coordinate q.
68  Slider& setDefaultLength(Real length) {return setDefaultQ(length);}
69  Real getDefaultLength() const {return getDefaultQ();}
70 
71  // Friendly, mobilizer-specific access to generalized coordinates and speeds.
72 
73  void setLength(State& s, Real length) {setQ(s, length);}
74  Real getLength(const State& s) const {return getQ(s);}
75 
76  void setRate(State& s, Real rateInLengthPerTime) {setU(s, rateInLengthPerTime);}
77  Real getRate(const State& s) const {return getU(s);}
78 
79  // Mobility forces are "u-like", that is, one per dof.
80  Real getAppliedForce(const State& s, const Vector& mobilityForces) const {
81  return getMyPartU(s,mobilityForces);
82  }
83  void applyForce(const State& s, Real force, Vector& mobilityForces) const {
84  updMyPartU(s,mobilityForces) += force;
85  }
86 
87  // STANDARDIZED MOBILIZED BODY INTERFACE
88 
89 
90  // access to generalized coordinates q and generalized speeds u
91  Slider& setDefaultQ(Real);
92  Real getDefaultQ() const;
93 
94  Real getQ(const State&) const;
95  Real getQDot(const State&) const;
96  Real getQDotDot(const State&) const;
97  Real getU(const State&) const;
98  Real getUDot(const State&) const;
99 
100  void setQ(State&, Real) const;
101  void setU(State&, Real) const;
102 
103  Real getMyPartQ(const State&, const Vector& qlike) const;
104  Real getMyPartU(const State&, const Vector& ulike) const;
105 
106  Real& updMyPartQ(const State&, Vector& qlike) const;
107  Real& updMyPartU(const State&, Vector& ulike) const;
108 
109  // specialize return type for convenience
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; }
120  // Don't let doxygen see this
124 };
125 
126 
127 } // namespace SimTK
128 
129 #endif // SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
130 
131 
132 
Real getRate(const State &s) const
Definition: MobilizedBody_Slider.h:77
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Slider & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Slider.h:118
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
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
void setLength(State &s, Real length)
Definition: MobilizedBody_Slider.h:73
void applyForce(const State &s, Real force, Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:83
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the new (outboard) body's reference frame B...
Definition: MobilizedBody.h:1501
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Real getAppliedForce(const State &s, const Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:80
Real getLength(const State &s) const
Definition: MobilizedBody_Slider.h:74
Slider & setDefaultLength(Real length)
Definition: MobilizedBody_Slider.h:68
One mobility – translation along the common x axis of the F (inboard) and M (outboard) mobilizer fra...
Definition: MobilizedBody_Slider.h:46
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:180
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
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.
Real getDefaultLength() const
Definition: MobilizedBody_Slider.h:69
#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
Slider & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:114
Slider & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Slider.h:116
void setRate(State &s, Real rateInLengthPerTime)
Definition: MobilizedBody_Slider.h:76
Slider()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sli...
Definition: MobilizedBody_Slider.h:50
Slider & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:112
Slider & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:110