Simbody  3.8
MobilizedBody_Screw.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_SCREW_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) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
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 
31 
32 namespace SimTK {
33 
40 public:
43  Screw() {}
44 
50  Screw(MobilizedBody& parent, const Transform& X_PF,
51  const Body& bodyInfo, const Transform& X_BM,
52  Real pitch, Direction=Forward);
53 
56  Screw(MobilizedBody& parent, const Body& bodyInfo, Real pitch,
57  Direction=Forward);
58 
59 
61  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
62  }
64  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
65  }
67  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
68  }
69 
71  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
72  }
73 
75  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
76  }
77 
80 
82  Real getDefaultQ() const;
83 
84  Real getQ(const State&) const;
85  Real getQDot(const State&) const;
86  Real getQDotDot(const State&) const;
87  Real getU(const State&) const;
88  Real getUDot(const State&) const;
89 
90  void setQ(State&, Real) const;
91  void setU(State&, Real) const;
92 
93  Real getMyPartQ(const State&, const Vector& qlike) const;
94  Real getMyPartU(const State&, const Vector& ulike) const;
95 
96  Real& updMyPartQ(const State&, Vector& qlike) const;
97  Real& updMyPartU(const State&, Vector& ulike) const;
98  // Don't let doxygen see this
102 };
103 
104 } // namespace SimTK
105 
106 #endif // SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
107 
108 
109 
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
One mobility – coordinated rotation and translation along the common z axis of the inboard and outboa...
Definition: MobilizedBody_Screw.h:39
Real getUDot(const State &) const
Real getQ(const State &) const
Real getU(const State &) const
Screw & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Screw.h:63
Screw & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Screw.h:60
Real getQDotDot(const State &) const
Real & updMyPartQ(const State &, Vector &qlike) const
Screw & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Screw.h:66
Real & updMyPartU(const State &, Vector &ulike) const
Real getMyPartU(const State &, const Vector &ulike) const
Real getMyPartQ(const State &, const Vector &qlike) const
Real getQDot(const State &) const
Screw & setDefaultPitch(Real pitch)
void setQ(State &, Real) const
void setU(State &, Real) const
Screw(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real pitch, Direction=Forward)
Create a Screw mobilizer between an existing parent (inboard) body P and a new child (outboard) body ...
Screw & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Screw.h:74
Screw()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Scr...
Definition: MobilizedBody_Screw.h:43
Screw & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Screw.h:70
Screw(MobilizedBody &parent, const Body &bodyInfo, Real pitch, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
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...
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