Simbody  3.8
Force_MobilityDiscreteForce.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_FORCE_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_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) 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 
53 public:
73  const MobilizedBody& mobod,
74  MobilizerUIndex whichU,
75  Real defaultForce=0);
76 
77 
82  const MobilizedBody& mobod,
83  Real defaultForce=0)
84  { // Invoke the other constructor.
85  new(this) MobilityDiscreteForce(forces, mobod, MobilizerUIndex(0),
86  defaultForce);
87  }
88 
91 
103 
110 
114  void setMobilityForce(State& state, Real f) const;
120  Real getMobilityForce(const State& state) const;
121 
124  MobilityDiscreteForceImpl, Force);
126 };
127 
128 } // namespace SimTK
129 
130 #endif // SimTK_SIMBODY_FORCE_MOBILITY_DISCRETE_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 discrete mobility (generalized) force f applied to a particular mobility that is specified at const...
Definition: Force_MobilityDiscreteForce.h:52
Real getMobilityForce(const State &state) const
Return the value for this generalized force that is stored in the given state.
MobilityDiscreteForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, MobilizerUIndex whichU, Real defaultForce=0)
Create a MobilityDiscreteForce.
MobilityDiscreteForce()
Default constructor creates an empty handle.
Definition: Force_MobilityDiscreteForce.h:90
Real getDefaultMobilityForce() const
Return the value that this generalized force will have by default.
MobilityDiscreteForce & setDefaultMobilityForce(Real defaultForce)
Provide a new value for the defaultForce, overriding the one provided in the constructor.
MobilityDiscreteForce(GeneralForceSubsystem &forces, const MobilizedBody &mobod, Real defaultForce=0)
Alternate constructor signature for when the mobilizer has only a single generalized speed,...
Definition: Force_MobilityDiscreteForce.h:81
void setMobilityForce(State &state, Real f) const
Change the value of the generalized force to be applied in the given state.
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