1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_
121 const Vec3& 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
Three mobilities – unrestricted orientation modeled as a 1-2-3 body-fixed Euler angle sequence,...
Definition: MobilizedBody_Gimbal.h:69
Gimbal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition: MobilizedBody_Gimbal.h:128
Vec3 & updMyPartU(const State &state, Vector &ulike) const
Given a writable vector in the System's generalized speed basis, extract a writable reference to the ...
const Vec3 & getUDot(const State &state) const
Obtain the current value for this mobilizer's generalized accelerations udot (d/dt u) from the given ...
Gimbal(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Gimbal mobilizer between an existing parent (inboard) body P and a new child (outboard) body...
Rotation getDefaultRotation() const
Return the default orientation for this mobilizer as a Rotation matrix.
Definition: MobilizedBody_Gimbal.h:120
Gimbal(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
const Vec3 & getU(const State &state) const
Obtain the current value for this mobilizer's generalized speeds u from the given State,...
Real getDefaultRadius() const
Get the current value of the default visualization ball radius.
Gimbal & setDefaultQ(const Vec3 &q)
Set the default value for the generalized coordinates q for this mobilizer.
const Vec3 & getMyPartQ(const State &state, const Vector &qlike) const
Given a vector in the System's generalized coordinate basis, extract the three q's belonging to this ...
Gimbal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Gim...
Definition: MobilizedBody_Gimbal.h:73
Gimbal & 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_Gimbal.h:139
Vec3 & updMyPartQ(const State &state, Vector &qlike) const
Given a writable vector in the System's generalized coordinate basis, extract a writable reference to...
Gimbal & setDefaultRadius(Real r)
This affects the radius of the ball that will be drawn as default visualization geometry for a Gimbal...
Gimbal & setDefaultRotation(const Rotation &R_FM)
Override the default orientation for this mobilizer.
Definition: MobilizedBody_Gimbal.h:111
const Vec3 & getQ(const State &state) const
Obtain the current value for this mobilizer's generalized coordinates q from the given State,...
const Vec3 & getQDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate time derivatives qdot from the g...
Gimbal & setDefaultInboardFrame(const Transform &X_PF)
Change the default inboard ("fixed") frame F on the parent body of this mobilizer.
Definition: MobilizedBody_Gimbal.h:92
const Vec3 & getDefaultQ() const
Obtain the default value for the generalized coordinates q that has been set for this mobilizer.
Gimbal & 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_Gimbal.h:100
const Vec3 & getQDotDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate second time derivatives qdotdot ...
const Vec3 & getMyPartU(const State &state, const Vector &ulike) const
Given a vector in the System's generalized speed basis, extract the three u's belonging to this mobil...
void setU(State &state, const Vec3 &u) const
Set new values for this mobilizer's generalized speeds u in the given state.
void setQ(State &state, const Vec3 &q) const
Set new values for this mobilizer's generalized coordinates q in the given state.
Gimbal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition: MobilizedBody_Gimbal.h:134
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 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 ...
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
const CoordinateAxis::XCoordinateAxis XAxis
Constant representing the X coordinate axis; will implicitly convert to the integer 0 when used in a ...