1 #ifndef SimTK_SIMBODY_CONSTRAINT_ROD_H_ 2 #define SimTK_SIMBODY_CONSTRAINT_ROD_H_ 95 Real defaultRodLength);
116 Real defaultRodLength);
134 Rod& setDefaultPointOnBody1(
const Vec3& defaultPoint);
139 Rod& setDefaultPointOnBody2(
const Vec3& defaultPoint);
144 Rod& setDefaultRodLength(
Real defaultRodLength);
150 const Vec3& getDefaultPointOnBody1()
const;
155 const Vec3& getDefaultPointOnBody2()
const;
159 Real getDefaultRodLength()
const;
201 const Rod& setPointOnBody1(
State& state,
const Vec3& p_B1P)
const;
208 const Rod& setPointOnBody2(
State& state,
const Vec3& p_B2Q)
const;
213 const Rod& setRodLength(
State& state,
Real rodLength)
const;
219 const Vec3& getPointOnBody1(
const State& state)
const;
225 const Vec3& getPointOnBody2(
const State& state)
const;
228 Real getRodLength(
const State& state)
const;
240 Real getPositionError(
const State&)
const;
245 Real getVelocityError(
const State&)
const;
248 Real getAccelerationError(
const State&)
const;
276 Real findLengthViolation(
const State& state)
const;
297 #endif // SimTK_SIMBODY_CONSTRAINT_ROD_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
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
Rod()
Default constructor creates an empty handle that can be used to reference any Rod Constraint...
Definition: Constraint_Rod.h:120
This defines the base Constraint class and related classes, which are used to specify limitations on ...
This constraint consists of one constraint equation that enforces a constant distance between a point...
Definition: Constraint_Rod.h:52
#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