1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_ 81 return setDefaultQ(p_FM);
129 void setMobilizerTranslation(
State& s, const
Vec3& p_FM)
const {
130 setTranslation(s,p_FM);
134 const
Vec3& getMobilizerTranslation(const
State& s)
const {
135 return getTranslation(s);
139 void setMobilizerVelocity(
State& s, const
Vec3& v_FM)
const {
144 const
Vec3& getMobilizerVelocity(const
State& s)
const {
145 return getVelocity(s);
149 const
Vec3& getMobilizerAcceleration(const
State& s)
const {
150 return getAcceleration(s);
154 const Vec3& getDefaultQ()
const;
159 const Vec3& getQDotDot(
const State&)
const;
180 #endif // SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_ Three translational mobilities describing the Cartesian motion of a point.
Definition: MobilizedBody_Translation.h:38
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...
void setTranslation(State &s, const Vec3 &p_FM) const
Set the current value of q's in the given State.
Definition: MobilizedBody_Translation.h:92
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
Translation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:64
Translation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:61
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
#define DEPRECATED_14(MSG)
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:289
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
Translation & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Translation.h:68
Translation & setDefaultTranslation(const Vec3 &p_FM)
This is just a nicer name for setting this mobilizer's topological default generalized coordinates q...
Definition: MobilizedBody_Translation.h:80
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Translation & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Translation.h:72
const Vec3 & getDefaultTranslation() const
Get the topological default values for the initial q's.
Definition: MobilizedBody_Translation.h:85
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
Translation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:58
const Vec3 & getAcceleration(const State &s) const
Get the current value of the udot's for this mobilizer from the given State, which must be realized t...
Definition: MobilizedBody_Translation.h:121
const Vec3 & getTranslation(const State &s) const
Get the current value of the q's for this mobilizer from the given State.
Definition: MobilizedBody_Translation.h:99
const Vec3 & getVelocity(const State &s) const
Get the current value of the u's for this mobilizer from the given State.
Definition: MobilizedBody_Translation.h:113
void setVelocity(State &s, const Vec3 &v_FM) const
Set the current value of u's in the given State.
Definition: MobilizedBody_Translation.h:106
Translation()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Tra...
Definition: MobilizedBody_Translation.h:42