1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
133 return setDefaultQ(q); }
138 const Vec6& q = getDefaultQ();
This defines the MobilizedBody class, which associates a new body (the "child", "outboard",...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
Six mobilities – arbitrary relative motion modeled as x-y-z translation followed by an x-y-z body-fix...
Definition: MobilizedBody_Bushing.h:86
const Vec6 & getQDotDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate second time derivatives qdotdot ...
Vec6 & updMyPartQ(const State &state, Vector &qlike) const
Given a writable vector in the System's generalized coordinate basis, extract a writable reference to...
const Vec6 & getDefaultQ() const
Obtain the default value for the generalized coordinates q that has been set for this mobilizer.
Bushing(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Bushing mobilizer between an existing parent (inboard) body P and a new child (outboard) bod...
const Vec6 & getQ(const State &state) const
Obtain the current value for this mobilizer's generalized coordinates q from the given State,...
const Vec6 & getQDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate time derivatives qdot from the g...
void setU(State &state, const Vec6 &u) const
Set new values for this mobilizer's generalized speeds u in the given state.
Bushing & setDefaultInboardFrame(const Transform &X_PF)
Change the default inboard ("fixed") frame F on the parent body of this mobilizer.
Definition: MobilizedBody_Bushing.h:109
const Vec6 & getU(const State &state) const
Obtain the current value for this mobilizer's generalized speeds u from the given State,...
Bushing & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition: MobilizedBody_Bushing.h:152
void setQ(State &state, const Vec6 &q) const
Set new values for this mobilizer's generalized coordinates q in the given state.
Bushing()
Construct an empty handle that can be assigned to reference any MobilizedBody::Bushing.
Definition: MobilizedBody_Bushing.h:90
const Vec6 & getMyPartU(const State &state, const Vector &ulike) const
Given a vector in the System's generalized speed basis, extract the six u's belonging to this mobiliz...
Bushing(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
const Vec6 & getUDot(const State &state) const
Obtain the current value for this mobilizer's generalized accelerations udot (=d/dt u) from the given...
Bushing & setDefaultQ(const Vec6 &q)
Set the default value for the generalized coordinates q for this mobilizer.
Bushing & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition: MobilizedBody_Bushing.h:146
Bushing & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Add DecorativeGeometry to the parent (inboard) body of this mobilizer, positioned relative to the mob...
Definition: MobilizedBody_Bushing.h:157
Bushing & setDefaultTransform(const Transform &X_FM)
Override the default pose for this mobilizer.
Definition: MobilizedBody_Bushing.h:129
Bushing & setDefaultOutboardFrame(const Transform &X_BM)
Change the default outboard ("moving") frame M on this mobilized body (that is, on this mobilizer's c...
Definition: MobilizedBody_Bushing.h:117
Transform getDefaultTransform() const
Return the default pose for this mobilizer as a Transform.
Definition: MobilizedBody_Bushing.h:137
const Vec6 & getMyPartQ(const State &state, const Vector &qlike) const
Given a vector in the System's generalized coordinate basis, extract the six q's belonging to this mo...
Vec6 & updMyPartU(const State &state, Vector &ulike) const
Given a writable vector in the System's generalized speed basis, extract a writable reference to the ...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Convenience method to add DecorativeGeometry specified relative to the new (outboard) body's referenc...
Definition: MobilizedBody.h:1504
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
Vec3P convertRotationToBodyFixedXYZ() const
A convenient special case of convertThreeAxesRotationToThreeAngles().
Definition: Rotation.h:843
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is a fixed-length column vector designed for no-overhead inline computation.
Definition: Vec.h:184
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition: Vec.h:837
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition: Vec.h:827
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Rotation_< Real > Rotation
Definition: Rotation.h:47
@ BodyRotationSequence
Definition: Rotation.h:42
const CoordinateAxis::ZCoordinateAxis ZAxis
Constant representing the Z coordinate axis; will implicitly convert to the integer 2 when used in a ...
const CoordinateAxis::YCoordinateAxis YAxis
Constant representing the Y coordinate axis; will implicitly convert to the integer 1 when used in a ...
Transform_< Real > Transform
Definition: Transform.h:44
const CoordinateAxis::XCoordinateAxis XAxis
Constant representing the X coordinate axis; will implicitly convert to the integer 0 when used in a ...