1 #ifndef SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_
2 #define SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_
127 const Vec6& stiffness,
const Vec6& damping);
149 const Vec6& stiffness,
const Vec6& damping);
296 const Vec6& stiffness)
const;
309 const Vec6& damping)
const;
367 const Vec6& getQ(
const State& state)
const;
423 const Vec6& getQDot(
const State& state)
const;
492 const Vec6& getF(
const State& state)
const;
540 Real getPotentialEnergy(
const State& state)
const;
#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
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition: Force_LinearBushing.h:101
const Transform & getDefaultFrameOnBody1() const
Return the frame F on body B1 that will be used by default as one of the frames connected by the bush...
const SpatialVec & getV_GF(const State &state) const
Obtain the spatial velocity V_GF giving the velocity of body 1's frame F in the Ground frame.
const LinearBushing & setDamping(State &state, const Vec6 &damping) const
Set the damping coefficients c that will be used for this Bushing when evaluated using this State.
LinearBushing & setDefaultStiffness(const Vec6 &stiffness)
Set the stiffnesses (spring constants) k that will be used by default for this Bushing; these must be...
Real getDissipatedEnergy(const State &state) const
Obtain the total amount of energy dissipated by this Bushing since some arbitrary starting point.
const Transform & getX_GF(const State &state) const
Obtain the spatial transform X_GF giving the location and orientation of body 1's frame F in Ground.
LinearBushing(GeneralForceSubsystem &forces, const MobilizedBody &body1, const Transform &frameFOnB1, const MobilizedBody &body2, const Transform &frameMOnB2, const Vec6 &stiffness, const Vec6 &damping)
Create a LinearBushing between a pair of arbitrary frames, one fixed to each of two bodies.
const SpatialVec & getV_GM(const State &state) const
Obtain the spatial velocity V_GM giving the velocity of body 2's frame M in the Ground frame.
const Transform & getFrameOnBody1(const State &state) const
Return the frame F on body B1 currently being used by this State as one of the frames connected by th...
const Vec6 & getDamping(const State &state) const
Return the damping coefficients c currently being used for this Bushing by this State.
const Vec6 & getDefaultStiffness() const
Return the stiffnesses k that will be used by default for this Bushing.
const Vec6 & getDefaultDamping() const
Return the damping coefficients c that will be used by default for this Bushing.
const SpatialVec & getV_FM(const State &state) const
Obtain the spatial velocity V_FM giving the velocity of body 2's frame M in body 1's frame F,...
const Transform & getX_GM(const State &state) const
Obtain the spatial transform X_GM giving the location and orientation of body 2's frame M in Ground.
const Transform & getFrameOnBody2(const State &state) const
Return the frame M on body B2 currently being used by this State as one of the frames connected by th...
const LinearBushing & setStiffness(State &state, const Vec6 &stiffness) const
Set the stiffnesses (spring constants) k that will be used for this Bushing when evaluated using this...
const SpatialVec & getF_GF(const State &state) const
Return the spatial force F_GF being applied by this Bushing to body 1 at its F frame,...
Real getPowerDissipation(const State &state) const
Obtain the rate at which energy is being dissipated by this Bushing, that is, the power being lost.
const LinearBushing & setFrameOnBody2(State &state, const Transform &X_B2M) const
Set the frame M on body B2 that will be used as one of the frames connected by the bushing when evalu...
LinearBushing(GeneralForceSubsystem &forces, const MobilizedBody &body1, const MobilizedBody &body2, const Vec6 &stiffness, const Vec6 &damping)
Create a LinearBushing connecting the body frames of two bodies.
LinearBushing & setDefaultDamping(const Vec6 &damping)
Set the damping coefficients c that will be used by default for this Bushing; these must be nonnegati...
LinearBushing & setDefaultFrameOnBody2(const Transform &X_B2M)
Set the frame M on body B2 that will be used by default as one of the frames connected by the bushing...
const Vec6 & getStiffness(const State &state) const
Return the stiffnesses (spring constants) k currently being used for this Bushing by this State.
const Transform & getX_FM(const State &state) const
Obtain the spatial transform X_FM giving the location and orientation of body 2's frame M in body 1's...
const Transform & getDefaultFrameOnBody2() const
Return the frame M on body B2 that will be used by default as one of the frames connected by the bush...
LinearBushing()
Default constructor creates an empty handle.
Definition: Force_LinearBushing.h:152
const SpatialVec & getF_GM(const State &state) const
Return the spatial force F_GM being applied by this Bushing to body 2 at its M frame,...
void setDissipatedEnergy(State &state, Real energy) const
Set the accumulated dissipated energy to an arbitrary value.
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
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