1 #ifndef SimTK_SIMBODY_CONSTRAINT_BALL_H_
2 #define SimTK_SIMBODY_CONSTRAINT_BALL_H_
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
Enforce that a fixed station on one body remains coincident with a fixed station on a second body,...
Definition: Constraint_Ball.h:57
Vec3 getBallReactionForceOnBody1(const State &) const
Return the force currently being applied by this Constraint to the point of body 1 that is coincident...
Vec3 getPositionErrors(const State &state) const
Return the current position-level constraint error for this Constraint.
void setPointOnBody1(State &state, const Vec3 &point_B1) const
Change the station point on body 1 at which this Constraint acts.
Vec3 getVelocityErrors(const State &state) const
Return the current velocity-level constraint error for this Constraint.
Ball()
Default constructor creates an empty handle.
Definition: Constraint_Ball.h:70
Ball(MobilizedBody &body1, MobilizedBody &body2)
Connect the origin of body1 to the origin of body2.
Vec3 getBallReactionForceOnBody2(const State &) const
Return the force currently being applied by this Constraint to body 2, at its constrained station poi...
Ball(MobilizedBody &body1, const Vec3 &defaultPoint1, MobilizedBody &body2, const Vec3 &defaultPoint2)
Connect body1 and body2 at given station points, given in the body frame of the corresponding body.
Ball & setDefaultPointOnBody2(const Vec3 &defaultPoint_B2)
Change the default station location on body 2.
MobilizedBodyIndex getBody2MobilizedBodyIndex() const
Return the MobilizedBodyIndex corresponding to body 2.
const Vec3 & getPointOnBody1(const State &state) const
Return from the given state the constrained station on body 1, in the body 1 frame.
const Vec3 & getDefaultPointOnBody2() const
Return the default location for the station point on body 2, as a vector in the body 2 frame.
void setPointOnBody2(State &state, const Vec3 &point_B2) const
Change the station point on body 2 at which this Constraint acts.
const Vec3 & getDefaultPointOnBody1() const
Return the default location for the station point on body 1, as a vector in the body 1 frame.
Vec3 getAccelerationErrors(const State &) const
Return the current acceleration-level constraint error for this Constraint.
Vec3 getMultipliers(const State &state) const
Return the three Lagrange multipliers associated with the three accleration-level constraint equation...
MobilizedBodyIndex getBody1MobilizedBodyIndex() const
Return the MobilizedBodyIndex corresponding to body 1.
const Vec3 & getPointOnBody2(const State &state) const
Return from the given state the constrained station on body 2, in the body 2 frame.
Ball & setDefaultPointOnBody1(const Vec3 &defaultPoint_B1)
Change the default station location on body 1.
Real getDefaultRadius() const
Retrieve the radius being used for visualization of this Constraint.
Ball & setDefaultRadius(Real r)
For visualization only, you can override the default radius used by this Constraint to draw itself.
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:67
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607