1 #ifndef SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
2 #define SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
51 const UnitVec3& defaultPlaneNormal_B,
Real defaultHeight,
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
One constraint equation.
Definition: Constraint_PointInPlane.h:47
PointInPlane & setDefaultFollowerPoint(const Vec3 &)
PointInPlane & setPointDisplayRadius(Real)
MobilizedBodyIndex getPlaneMobilizedBodyIndex() const
const Vec3 & getFollowerPoint(const State &) const
MobilizedBodyIndex getFollowerMobilizedBodyIndex() const
Real getForceOnFollowerPoint(const State &) const
PointInPlane(MobilizedBody &planeBody_B, const UnitVec3 &defaultPlaneNormal_B, Real defaultHeight, MobilizedBody &followerBody_F, const Vec3 &defaultFollowerPoint_F)
Real getVelocityError(const State &) const
PointInPlane & setDefaultPlaneNormal(const UnitVec3 &)
const UnitVec3 & getPlaneNormal(const State &) const
PointInPlane()
Default constructor creates an empty handle.
Definition: Constraint_PointInPlane.h:55
const Vec3 & getDefaultFollowerPoint() const
Real getPointDisplayRadius() const
Real getPositionError(const State &) const
Real getMultiplier(const State &) const
Real getPlaneDisplayHalfWidth() const
Real getDefaultPlaneHeight() const
Real getAccelerationError(const State &) const
const UnitVec3 & getDefaultPlaneNormal() const
PointInPlane & setDefaultPlaneHeight(Real)
PointInPlane & setPlaneDisplayHalfWidth(Real)
Real getPlaneHeight(const State &) const
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