Simbody  3.8
Force_MobilityLinearStop.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_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 
66 public:
90  const MobilizedBody& mobod,
91  MobilizerQIndex whichQ,
92  Real defaultStiffness,
93  Real defaultDissipation,
94  Real defaultQLow =-Infinity,
95  Real defaultQHigh= Infinity);
96 
100 
117  MobilityLinearStop& setDefaultBounds(Real defaultQLow, Real defaultQHigh);
118 
119 
135  (Real defaultStiffness, Real defaultDissipation);
136 
141 
146 
151 
156 
172  void setBounds(State& state, Real qLow, Real qHigh) const;
173 
188  (State& state, Real stiffness, Real dissipation) const;
189 
194  Real getLowerBound(const State& state) const;
195 
200  Real getUpperBound(const State& state) const;
201 
206  Real getStiffness(const State& state) const;
207 
212  Real getDissipation(const State& state) const;
213 
216  MobilityLinearStopImpl, Force);
218 };
219 
220 
221 
222 } // namespace SimTK
223 
224 #endif // SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_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
Model a compliant stop element that acts to keep a mobilizer coordinate q within specified bounds.
Definition: Force_MobilityLinearStop.h:65
Real getDefaultDissipation() const
Return the default value for the stop's material's dissipation coefficient d.
MobilityLinearStop(GeneralForceSubsystem &forces, const MobilizedBody &mobod, MobilizerQIndex whichQ, Real defaultStiffness, Real defaultDissipation, Real defaultQLow=-Infinity, Real defaultQHigh=Infinity)
Create a MobilityLinearStop force element on a particular generalized coordinate.
Real getStiffness(const State &state) const
Return the value for the stop material's stiffness k that is stored in the given state.
Real getDefaultStiffness() const
Return the default value for the stop material's stiffness k.
Real getUpperBound(const State &state) const
Return the value for the upper bound that is stored in the given state.
Real getDefaultLowerBound() const
Return the default value for the stop's lower bound (a generalized coordinate value).
Real getDissipation(const State &state) const
Return the value for the stop material's dissipation coefficient d that is stored in the given state.
MobilityLinearStop()
Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearStop o...
Definition: Force_MobilityLinearStop.h:99
MobilityLinearStop & setDefaultBounds(Real defaultQLow, Real defaultQHigh)
Provide new values for the default lower and upper bounds of this stop.
void setBounds(State &state, Real qLow, Real qHigh) const
Change the values of the lower and upper bounds in the given state; these may differ from the default...
MobilityLinearStop & setDefaultMaterialProperties(Real defaultStiffness, Real defaultDissipation)
Provide new values for the default material properties of this stop, which are assumed to be the same...
void setMaterialProperties(State &state, Real stiffness, Real dissipation) const
Change the values of this stop's material properties in the given state; these may differ from the de...
Real getDefaultUpperBound() const
Return the default value for the stop's upper bound (a generalized coordinate value).
Real getLowerBound(const State &state) const
Return the value for the lower bound 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
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
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