1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
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
Three mobilities – coordinated rotation and translation along the surface of an ellipsoid fixed to th...
Definition: MobilizedBody_Ellipsoid.h:45
Rotation getDefaultRotation() const
Get the value for the default orientation of this mobilizer; unless changed by setDefaultRotation() i...
Definition: MobilizedBody_Ellipsoid.h:96
Ellipsoid & setDefaultRotation(const Rotation &R_FM)
Provide a default orientation for this mobilizer if you don't want to start with the identity rotatio...
Definition: MobilizedBody_Ellipsoid.h:91
void setU(State &, const Vec3 &) const
const Vec3 & getUDot(const State &) const
Ellipsoid()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Ell...
Definition: MobilizedBody_Ellipsoid.h:49
const Vec4 & getQ(const State &) const
Ellipsoid & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:98
Ellipsoid & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:104
Ellipsoid(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, const Vec3 &radii, Direction=Forward)
Create an Ellipsoid mobilizer between an existing parent (inboard) body P and a new child (outboard) ...
Ellipsoid(MobilizedBody &parent, const Body &bodyInfo, const Vec3 &radii, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Quaternion & updDefaultQ()
const Quaternion & getDefaultQ() const
Vec4 & updMyPartQ(const State &, Vector &qlike) const
Vec3 & updMyPartU(const State &, Vector &ulike) const
void setQ(State &, const Vec4 &) const
const Vec4 & getMyPartQ(const State &, const Vector &qlike) const
const Vec4 & getQDotDot(const State &) const
Ellipsoid(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
This constructor assumes you'll set the ellipsoid dimensions later; meanwhile it uses some default di...
Ellipsoid & setDefaultRadii(const Vec3 &radii)
Modify the default semi-axis dimensions of the ellipsoid, given in the F frame.
Ellipsoid & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ellipsoid.h:112
const Vec3 & getU(const State &) const
Ellipsoid(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
This constructor assumes you'll set the ellipsoid dimensions later; meanwhile it uses some default di...
const Vec3 & getDefaultRadii() const
Get the default semi-axis dimensions of the ellipsoid as specified during construction or via setDefa...
Ellipsoid & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:101
const Vec4 & getQDot(const State &) const
Ellipsoid & setDefaultQ(const Quaternion &q)
Definition: MobilizedBody_Ellipsoid.h:121
Ellipsoid & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ellipsoid.h:108
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
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...
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:65
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
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
Rotation_< Real > Rotation
Definition: Rotation.h:47