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Simbody
3.5
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Simbody
3.5
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This class can be used to define new motions. More...
Inheritance diagram for SimTK::Motion::Custom:Classes | |
| class | Implementation |
| This is the abstract base class for Custom Motion implementations. More... | |
Public Member Functions | |
| Custom (MobilizedBody &mobod, Implementation *implementation) | |
| Create a Custom Motion. More... | |
| Custom () | |
| Default constructor creates an empty handle that can be assigned to reference any Motion::Custom object. More... | |
| Public Member Functions inherited from SimTK::Motion | |
| Motion () | |
| Default constructor creates an empty Motion handle that can be assigned to reference any kind of Motion object. More... | |
| Level | getLevel (const State &) const |
| Get the highest level being driven by this Motion. More... | |
| Method | getLevelMethod (const State &) const |
| Get the method being used to control the indicated Level. More... | |
| void | disable (State &state) const |
| Disable this Motion, effectively removing it from the mobilizer to which it belongs and allowing the mobilizer to move freely (unless locked). More... | |
| void | enable (State &state) const |
| Enable this Motion, without necessarily satisfying it. More... | |
| bool | isDisabled (const State &state) const |
| Test whether this Motion is currently disabled in the supplied State. More... | |
| void | setDisabledByDefault (bool shouldBeDisabled) |
| Specify that a Motion is to be inactive by default. More... | |
| bool | isDisabledByDefault () const |
| Test whether this Motion is disabled by default in which case it must be explicitly enabled before it will take effect. More... | |
| const MobilizedBody & | getMobilizedBody () const |
| Get the MobilizedBody to which this Motion belongs. More... | |
| void | calcAllMethods (const State &s, Method &qMethod, Method &uMethod, Method &udotMethod) const |
| (Advanced) This implements the above table. More... | |
| Public Member Functions inherited from SimTK::PIMPLHandle< Motion, MotionImpl, true > | |
| bool | isEmptyHandle () const |
| Returns true if this handle is empty, that is, does not refer to any implementation object. More... | |
| bool | isOwnerHandle () const |
| Returns true if this handle is the owner of the implementation object to which it refers. More... | |
| bool | isSameHandle (const Motion &other) const |
| Determine whether the supplied handle is the same object as "this" PIMPLHandle. More... | |
| void | disown (Motion &newOwner) |
| Give up ownership of the implementation to an empty handle. More... | |
| PIMPLHandle & | referenceAssign (const Motion &source) |
| "Copy" assignment but with shallow (pointer) semantics. More... | |
| PIMPLHandle & | copyAssign (const Motion &source) |
| This is real copy assignment, with ordinary C++ object ("value") semantics. More... | |
| void | clearHandle () |
| Make this an empty handle, deleting the implementation object if this handle is the owner of it. More... | |
| const MotionImpl & | getImpl () const |
| Get a const reference to the implementation associated with this Handle. More... | |
| MotionImpl & | updImpl () |
| Get a writable reference to the implementation associated with this Handle. More... | |
| int | getImplHandleCount () const |
| Return the number of handles the implementation believes are referencing it. More... | |
Protected Member Functions | |
| const Implementation & | getImplementation () const |
| Implementation & | updImplementation () |
| Protected Member Functions inherited from SimTK::Motion | |
| Motion (MotionImpl *r) | |
| For internal use: construct a new Motion handle referencing a particular implementation object. More... | |
| Protected Member Functions inherited from SimTK::PIMPLHandle< Motion, MotionImpl, true > | |
| PIMPLHandle () | |
| The default constructor makes this an empty handle. More... | |
| PIMPLHandle (MotionImpl *p) | |
| This provides consruction of a handle referencing an existing implementation object. More... | |
| PIMPLHandle (const PIMPLHandle &source) | |
| The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer
semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| ~PIMPLHandle () | |
| Note that the destructor is non-virtual. More... | |
| PIMPLHandle & | operator= (const PIMPLHandle &source) |
| Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| void | setImpl (MotionImpl *p) |
| Set the implementation for this empty handle. More... | |
| bool | hasSameImplementation (const Motion &other) const |
| Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More... | |
Additional Inherited Members | |
| Public Types inherited from SimTK::Motion | |
| enum | Level { NoLevel = -1, Acceleration = 0, Velocity = 1, Position = 2 } |
| What is the highest level of motion that is driven? Lower levels are also driven; higher levels are determined by integration. More... | |
| enum | Method { NoMethod = -1, Zero = 0, Discrete = 1, Prescribed = 2, Free = 3, Fast = 4 } |
| There are several ways to specify the motion at this Level, and the selected method also determines lower-level motions. More... | |
| Public Types inherited from SimTK::PIMPLHandle< Motion, MotionImpl, true > | |
| typedef PIMPLHandle< Motion, MotionImpl, PTR > | HandleBase |
| typedef HandleBase | ParentHandle |
| Static Public Member Functions inherited from SimTK::Motion | |
| static const char * | nameOfLevel (Level) |
| Returns a human-readable name corresponding to the given Level; useful for debugging. More... | |
| static const char * | nameOfMethod (Method) |
| Returns a human-readable name corresponding to the given Method; useful for debugging. More... | |
This class can be used to define new motions.
To use it, create a class that extends Motion::Custom::Implementation. You can then create an instance of it and pass it to the Motion::Custom constructor:
Motion::Custom myMotion(mobod, new MyMotionImplementation());
Alternatively, you can create a subclass of Motion::Custom which creates the Implementation itself:
class MyMotion : public Motion::Custom { public: MyMotion(MobilizedBody& mobod) : Motion::Custom(mobod, new MyMotionImplementation()) {} };
This allows a user to simply write
MyMotion(mobod);
and not worry about implementation classes or creating objects on the heap. If you do this, your Motion::Custom handle subclass must not have any data members or virtual methods. If it does, it will not work correctly. Instead, store all data in the Implementation subclass.
| SimTK::Motion::Custom::Custom | ( | MobilizedBody & | mobod, |
| Implementation * | implementation | ||
| ) |
Create a Custom Motion.
| mobod | the MobilizedBody to which this Motion should be added |
| implementation | the object which implements the custom Motion. The Motion::Custom takes over ownership of the implementation object, and deletes it when the Motion itself is deleted. |
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inline |
Default constructor creates an empty handle that can be assigned to reference any Motion::Custom object.
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protected |
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protected |
1.8.11 
