1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_SCREW_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
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
Screw & setDefaultQ(Real)
Real getMyPartQ(const State &, const Vector &qlike) const
Real getQDot(const State &) const
Real getDefaultPitch() 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