1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_ 2 #define SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_ 109 Real getDefaultMobilityForce()
const;
114 void setMobilityForce(
State& state,
Real f)
const;
120 Real getMobilityForce(
const State& state)
const;
124 MobilityDiscreteForceImpl,
Force);
130 #endif // SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_ This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
A discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
MobilityDiscreteForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, Real defaultForce=0)
Alternate constructor signature for when the mobilizer has only a single generalized speed...
Definition: Force_MobilityDiscreteForce.h:81
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
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
MobilityDiscreteForce()
Default constructor creates an empty handle.
Definition: Force_MobilityDiscreteForce.h:90
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#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
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...