Simbody  3.8
Force_MobilityConstantForce.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_CONSTANT_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_CONSTANT_FORCE_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) 2008-13 Stanford University and the Authors. *
13  * Authors: Peter Eastman, 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 
46 public:
54  const MobilizedBody& mobod,
55  MobilizerUIndex whichU,
56  Real defaultForce);
57 
62  const MobilizedBody& mobod,
63  Real defaultForce)
64  { // Invoke the other constructor.
65  new(this) MobilityConstantForce(forces, mobod, MobilizerUIndex(0),
66  defaultForce);
67  }
68 
71 
83 
88 
98  void setForce(State& state, Real force) const;
99 
104  Real getForce(const State& state) const;
105 
114  const MobilizedBody& mobod,
115  int whichU,
116  Real defaultForce)
117  { // Invoke the other constructor.
118  new(this) MobilityConstantForce(forces, mobod, MobilizerUIndex(whichU),
119  defaultForce);
120  } // Hide from Doxygen.
125  MobilityConstantForceImpl, Force);
127 };
128 
129 } // namespace SimTK
130 
131 #endif // SimTK_SIMBODY_FORCE_MOBILITY_CONSTANT_FORCE_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
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