1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
81 return getMyPartU(s,mobilityForces);
84 updMyPartU(s,mobilityForces) += force;
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 – translation along the common x axis of the F (inboard) and M (outboard) mobilizer fram...
Definition: MobilizedBody_Slider.h:46
Slider(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
void setRate(State &s, Real rateInLengthPerTime)
Definition: MobilizedBody_Slider.h:76
Slider & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:114
Real & updMyPartQ(const State &, Vector &qlike) const
Slider & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:110
Slider & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Slider.h:116
Real getU(const State &) const
Real getMyPartU(const State &, const Vector &ulike) const
Slider & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Slider.h:118
Real getQ(const State &) const
void setU(State &, Real) const
Real getAppliedForce(const State &s, const Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:80
void setLength(State &s, Real length)
Definition: MobilizedBody_Slider.h:73
Real getRate(const State &s) const
Definition: MobilizedBody_Slider.h:77
Slider()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sli...
Definition: MobilizedBody_Slider.h:50
Slider(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Slider mobilizer between an existing parent (inboard) body P and a new child (outboard) body...
Real getDefaultLength() const
Definition: MobilizedBody_Slider.h:69
void applyForce(const State &s, Real force, Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:83
Slider & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:112
Slider & setDefaultLength(Real length)
Definition: MobilizedBody_Slider.h:68
Real getMyPartQ(const State &, const Vector &qlike) const
void setQ(State &, Real) const
Real & updMyPartU(const State &, Vector &ulike) const
Real getLength(const State &s) const
Definition: MobilizedBody_Slider.h:74
Real getUDot(const State &) const
Real getQDotDot(const State &) const
Slider & setDefaultQ(Real)
Real getQDot(const State &) 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...
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