1 #ifndef SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_ 2 #define SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_ 51 const UnitVec3& defaultPlaneNormal_B,
Real defaultHeight,
62 Real getPlaneDisplayHalfWidth()
const;
63 Real getPointDisplayRadius()
const;
74 const UnitVec3& getDefaultPlaneNormal()
const;
75 Real getDefaultPlaneHeight()
const;
76 const Vec3& getDefaultFollowerPoint()
const;
81 const Vec3& getFollowerPoint(
const State&)
const;
84 Real getPositionError(
const State&)
const;
85 Real getVelocityError(
const State&)
const;
88 Real getAccelerationError(
const State&)
const;
90 Real getForceOnFollowerPoint(
const State&)
const;
101 #endif // SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_ This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
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
PointInPlane()
Default constructor creates an empty handle.
Definition: Constraint_PointInPlane.h:55
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
One constraint equation.
Definition: Constraint_PointInPlane.h:47
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66