Simbody  3.8
CableTrackerSubsystem.h
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1 #ifndef SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_
2 #define SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_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) 2012 Stanford University and the Authors. *
13  * Authors: Michael Sherman, Ian Stavness, Andreas Scholz *
14  * Contributors: *
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 
27 #include "SimTKmath.h"
29 
30 namespace SimTK {
31 
36 
37 class MultibodySystem;
38 class CablePath;
39 
40 //==============================================================================
41 // CABLE TRACKER SUBSYSTEM
42 //==============================================================================
69 public:
72 
76 int getNumCablePaths() const;
77 
79 const CablePath& getCablePath(CablePathIndex cableIx) const;
82  // Hide from Doxygen.
85 class Impl;
86 Impl& updImpl();
87 const Impl& getImpl() const;
89 };
90 
91 } // namespace SimTK
92 
93 #endif // SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:594
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
This is a unique integer type for quickly identifying specific cables for fast lookup purposes.
This class represents the path of a frictionless cable from an origin point fixed to a body,...
Definition: CablePath.h:92
This subsystem tracks the paths of massless, frictionless cables that take the shortest route between...
Definition: CableTrackerSubsystem.h:68
const CablePath & getCablePath(CablePathIndex cableIx) const
Get const access to a particular cable path.
CableTrackerSubsystem(MultibodySystem &)
CablePath & updCablePath(CablePathIndex cableIx)
Get writable access to a particular cable path.
int getNumCablePaths() const
Get the number of cable paths being managed by this cable tracker subsystem.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.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
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)