Simbody  3.7
MobilizedBody_Free.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
31 
32 namespace SimTK {
33 
53 public:
56  Free() {}
57 
63  Free(MobilizedBody& parent, const Transform& X_PF,
64  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
65 
68  Free(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
69 
71  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
72  }
74  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
75  }
77  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
78  }
79 
81  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
82  }
83 
85  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
86  }
87 
88  // Leaves rotation unchanged.
89  Free& setDefaultTranslation(const Vec3&);
90 
91  // Leaves translation unchanged. The internal representation is a quaternion
92  // so we guarantee that the stored value is numerically identical to the
93  // supplied one.
94  Free& setDefaultQuaternion(const Quaternion&);
95 
96  // Leaves translation unchanged. The Rotation matrix will be converted to
97  // a quaternion for storage.
98  Free& setDefaultRotation(const Rotation&);
99  // Sets both translation and rotation. The Rotation part of the Transform
100  // will be converted to a quaternion for storage.
101  Free& setDefaultTransform(const Transform&);
102 
103  // These return references to the stored default values.
104  const Vec3& getDefaultTranslation() const;
105  const Quaternion& getDefaultQuaternion() const;
106 
107  // These next two are derived from the stored values.
109  return Rotation(getDefaultQuaternion());
110  }
112  return Transform(Rotation(getDefaultQuaternion()), getDefaultTranslation());
113  }
114 
115  // Generic default state Topology methods.
116 
117  // Returns (Vec4,Vec3) where the Vec4 is a normalized quaternion.
118  const Vec7& getDefaultQ() const;
119 
120  // Interprets the supplied q as (Vec4,Vec3) where the Vec4 is a possibly
121  // unnormalized quaternion. The quaternion will be normalized before it is
122  // stored here, so you may not get back exactly the value supplied here if
123  // you call getDefaultQ().
124  Free& setDefaultQ(const Vec7& q);
125 
126  // Note that there is no guarantee that the quaternion part of the returned Q is normalized.
127  const Vec7& getQ(const State&) const;
128  const Vec7& getQDot(const State&) const;
129  const Vec7& getQDotDot(const State&) const;
130 
131  const Vec6& getU(const State&) const;
132  const Vec6& getUDot(const State&) const;
133 
134  // The Q's in the state are set exactly as supplied without normalization.
135  void setQ(State&, const Vec7&) const;
136  void setU(State&, const Vec6&) const;
137 
138  const Vec7& getMyPartQ(const State&, const Vector& qlike) const;
139  const Vec6& getMyPartU(const State&, const Vector& ulike) const;
140 
141  Vec7& updMyPartQ(const State&, Vector& qlike) const;
142  Vec6& updMyPartU(const State&, Vector& ulike) const;
143  // hide from Doxygen
147 };
148 
149 } // namespace SimTK
150 
151 #endif // SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
152 
153 
154 
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&#39;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&#39;s fundamental body-and-joint object used to parameterize a system&#39;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