Simbody  3.8
Force_DiscreteForces.h
Go to the documentation of this file.
1 #ifndef SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
2 #define SimTK_SIMBODY_FORCE_DISCRETE_FORCES_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) 2013 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
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 "SimTKcommon.h"
28 #include "simbody/internal/Force.h"
29 
35 namespace SimTK {
36 
42 public:
50  const SimbodyMatterSubsystem& matter);
51 
52 
55 
58  void clearAllForces(State& state) const {
59  clearAllMobilityForces(state);
60  clearAllBodyForces(state);
61  }
62 
65  void clearAllMobilityForces(State& state) const;
68  void clearAllBodyForces(State& state) const;
69 
82  void setOneMobilityForce(State& state, const MobilizedBody& mobod,
83  MobilizerUIndex whichU, Real force) const;
84 
99  void setOneBodyForce(State& state, const MobilizedBody& mobod,
100  const SpatialVec& spatialForceInG) const;
101 
120  void addForceToBodyPoint(State& state, const MobilizedBody& mobod,
121  const Vec3& pointInB,
122  const Vec3& forceInG) const;
123 
132  void setAllMobilityForces(State& state, const Vector& f) const;
133 
144  void setAllBodyForces(State& state,
145  const Vector_<SpatialVec>& bodyForcesInG) const;
146 
151  Real getOneMobilityForce(const State& state, const MobilizedBody& mobod,
152  MobilizerUIndex whichU) const;
153 
159  const MobilizedBody& mobod) const;
160 
166  const Vector& getAllMobilityForces(const State& state) const;
172  const Vector_<SpatialVec>& getAllBodyForces(const State& state) const;
173 
176  DiscreteForcesImpl, Force);
178 };
179 
180 } // namespace SimTK
181 
182 #endif // SimTK_SIMBODY_FORCE_DISCRETE_FORCES_H_
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
Includes internal headers providing declarations for the basic SimTK Core classes,...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
Arbitrary discrete body forces and mobility (generalized) forces. Useful for applying external forces...
Definition: Force_DiscreteForces.h:41
void setAllMobilityForces(State &state, const Vector &f) const
Set all the generalized forces at once.
void addForceToBodyPoint(State &state, const MobilizedBody &mobod, const Vec3 &pointInB, const Vec3 &forceInG) const
Convenience method to add in a force applied at a point (station) on a particular body into the force...
DiscreteForces()
Default constructor creates an empty handle.
Definition: Force_DiscreteForces.h:54
void setOneBodyForce(State &state, const MobilizedBody &mobod, const SpatialVec &spatialForceInG) const
Change the value of the discrete spatial force (force and torque) to be applied to a body in the give...
const Vector & getAllMobilityForces(const State &state) const
Get a reference to the internal Vector of all the generalized forces currently set to be applied by t...
void clearAllBodyForces(State &state) const
Set to zero all body spatial forces (force and torques) stored by this force element in the given sta...
const Vector_< SpatialVec > & getAllBodyForces(const State &state) const
Get a reference to the internal Vector of all the body spatial forces currently set to be applied by ...
Real getOneMobilityForce(const State &state, const MobilizedBody &mobod, MobilizerUIndex whichU) const
Return the value for a generalized force that is stored in the given state.
void clearAllMobilityForces(State &state) const
Set to zero all generalized forces stored by this force element in the given state.
DiscreteForces(GeneralForceSubsystem &forces, const SimbodyMatterSubsystem &matter)
Create a DiscreteForces force element.
void clearAllForces(State &state) const
Set to zero all forces stored by this force element in the given state, including both generalized fo...
Definition: Force_DiscreteForces.h:58
void setOneMobilityForce(State &state, const MobilizedBody &mobod, MobilizerUIndex whichU, Real force) const
Change the value of a generalized force to be applied in the given state.
void setAllBodyForces(State &state, const Vector_< SpatialVec > &bodyForcesInG) const
Set all the body spatial forces at once.
SpatialVec getOneBodyForce(const State &state, const MobilizedBody &mobod) const
Return the value for the discrete spatial force (force and torque) on a particular body that is store...
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
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