1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_CONSTANT_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_CONSTANT_FORCE_H_
125 MobilityConstantForceImpl,
Force);
#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
A constant generalized force f (a scalar) applied to a mobility.
Definition: Force_MobilityConstantForce.h:45
MobilityConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, Real defaultForce)
Alternate constructor signature for when the mobilizer has only a single generalized speed,...
Definition: Force_MobilityConstantForce.h:61
MobilityConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, int whichU, Real defaultForce)
Deprecated: Alternate signature for backwards compatibility – for safety you should prefer using the ...
Definition: Force_MobilityConstantForce.h:113
Real getForce(const State &state) const
Return the value for the generalized force that is stored in the given state.
MobilityConstantForce()
Default constructor creates an empty handle.
Definition: Force_MobilityConstantForce.h:70
void setForce(State &state, Real force) const
Change the value of the generalized force that is stored in the given state; this may differ from the...
MobilityConstantForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, MobilizerUIndex whichU, Real defaultForce)
Add a MobilityConstantForce element to the indicated Subsystem.
MobilityConstantForce & setDefaultForce(Real defaultForce)
Provide a new value for the default generalied force to be applied by this force element.
Real getDefaultForce() const
Return the default value for the generalized force.
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 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