1 #ifndef SimTK_SIMBODY_CONSTRAINT_WELD_H_
2 #define SimTK_SIMBODY_CONSTRAINT_WELD_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
Six constraint equations.
Definition: Constraint_Weld.h:60
const Transform & getFrameOnBody2(const State &) const
const SpatialVec & getWeldReactionOnBody1(const State &) const
Weld & setDefaultFrameOnBody2(const Transform &)
Explicitly set the default value for the frame on body2 which is to be made coincident with a frame o...
Weld()
Default constructor creates an empty handle.
Definition: Constraint_Weld.h:76
Vec6 getPositionErrors(const State &) const
Weld & setDefaultFrameOnBody1(const Transform &)
Explicitly set the default value for the frame on body1 which is to be made coincident with a frame o...
Vec6 getAccelerationErrors(const State &) const
MobilizedBodyIndex getBody1MobilizedBodyIndex() const
Report the MobilizedBodyIndex of body 1 for this Weld constraint.
Vec6 getVelocityErrors(const State &) const
const Transform & getFrameOnBody1(const State &) const
Weld(MobilizedBody &body1, const Transform &frame1, MobilizedBody &body2, const Transform &frame2)
Make a particular frame attached to one body coincident with a particular frame attached to the other...
const SpatialVec & getWeldReactionOnBody2(const State &) const
Weld & setAxisDisplayLength(Real r)
This is used only for visualization.
Weld(MobilizedBody &body1, MobilizedBody &body2)
Make the body frame of one body coincident with the body frame of the other body.
Vec6 getMultipliers(const State &) const
MobilizedBodyIndex getBody2MobilizedBodyIndex() const
Report the MobilizedBodyIndex of body 2 for this Weld constraint.
const Transform & getDefaultFrameOnBody1() const
Retrieve the default transform for the frame on body 1.
Real getAxisDisplayLength() const
Report the length being used for display of the frames being connected by this Weld.
const Transform & getDefaultFrameOnBody2() const
Retrieve the default transform for the frame on body 2.
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 a fixed-length column vector designed for no-overhead inline computation.
Definition: Vec.h:184
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