1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_ 89 Free& setDefaultTranslation(
const Vec3&);
104 const Vec3& getDefaultTranslation()
const;
105 const Quaternion& getDefaultQuaternion()
const;
109 return Rotation(getDefaultQuaternion());
118 const Vec7& getDefaultQ()
const;
129 const Vec7& getQDotDot(
const State&)
const;
151 #endif // SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_ 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
Free()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Fre...
Definition: MobilizedBody_Free.h:56
Free & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Free.h:80
Free & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:76
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:280
Free & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Free.h:84
Rotation_< Real > Rotation
Definition: Rotation.h:47
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Convenience method to add DecorativeGeometry specified relative to the new (outboard) body's referenc...
Definition: MobilizedBody.h:1504
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
Free & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:73
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Transform getDefaultTransform() const
Definition: MobilizedBody_Free.h:111
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
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.
#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
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41
Free & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:70
Unrestricted motion for a rigid body (six mobilities).
Definition: MobilizedBody_Free.h:52
Transform_< Real > Transform
Definition: Transform.h:44
Rotation getDefaultRotation() const
Definition: MobilizedBody_Free.h:108