Simbody  3.7
MobilizedBody_Universal.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_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 
41 public:
44  Universal() {}
45 
52  Universal(MobilizedBody& parent, const Transform& X_PF,
53  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
54 
57  Universal(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
58 
59 
61  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
62  }
64  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
65  }
67  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
68  }
69 
71  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
72  }
73 
75  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
76  } // Don't let doxygen see this
81 };
82 
83 } // namespace SimTK
84 
85 #endif // SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
86 
87 
88 
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
Universal & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:66
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
Universal & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Universal.h:74
Universal & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Universal.h:70
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
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
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.
Universal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Uni...
Definition: MobilizedBody_Universal.h:44
Universal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:63
Universal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:60
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
Two mobilities – rotation about the x axis, followed by a rotation about the new y axis...
Definition: MobilizedBody_Universal.h:40
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168