1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_DAMPER_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_DAMPER_H_
131 MobilityLinearDamperImpl,
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 linear damper that acts along or around a mobility coordinate to apply a generalized force there.
Definition: Force_MobilityLinearDamper.h:46
const MobilityLinearDamper & setDamping(State &state, Real damping) const
Change the value of the damping constant c in the given state; this may differ from the default value...
MobilityLinearDamper(GeneralForceSubsystem &forces, const MobilizedBody &mobod, int whichU, Real defaultDamping)
Deprecated: Alternate signature for backwards compatibility – for safety you should prefer using the ...
Definition: Force_MobilityLinearDamper.h:119
MobilityLinearDamper & setDefaultDamping(Real defaultDamping)
Provide a new value for the default damping constant c of this damper.
MobilityLinearDamper()
Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearDamper...
Definition: Force_MobilityLinearDamper.h:68
MobilityLinearDamper(GeneralForceSubsystem &forces, const MobilizedBody &mobod, MobilizerUIndex whichU, Real defaultDamping)
Create a MobilityLinearDamper force element on a particular mobility (generalized speed).
Real getDefaultDamping() const
Return the default value for the damper's damping constant c.
Real getDamping(const State &state) const
Return the value for the damping constant c that is stored 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