1 #ifndef SimTK_SIMBODY_MATTER_SUBTREE_H_
2 #define SimTK_SIMBODY_MATTER_SUBTREE_H_
35 class SimbodyMatterSubsystem;
37 class SimbodyMatterSubtree;
38 class SimbodyMatterSubtreeResults;
230 const SubtreeRep& getRep()
const {assert(rep);
return *rep;}
231 SubtreeRep& updRep() {assert(rep);
return *rep;}
277 class SubtreeResultsRep;
280 SubtreeResultsRep* rep;
281 const SubtreeResultsRep& getRep()
const {assert(rep);
return *rep;}
282 SubtreeResultsRep& updRep() {assert(rep);
return *rep;}
Includes internal headers providing declarations for the basic SimTK Core classes,...
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:1520
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
Unique integer type for Subsystem-local q indexing.
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
Definition: SimbodyMatterSubtree.h:242
SimbodyMatterSubtreeResults & operator=(const SimbodyMatterSubtreeResults &)
int getNumSubtreeBodies() const
const Array_< QIndex > & getQSubset() const
~SimbodyMatterSubtreeResults()
void addMobilities(SubtreeBodyIndex, QIndex qStart, int nq, UIndex uStart, int nu)
const SpatialVec & getSubtreeBodyAcceleration(SubtreeBodyIndex) const
int getNumSubtreeUs() const
const Array_< UIndex > & getUSubset() const
void realizeModel(const Vector &stateQ, const Vector &stateU)
const Vector & getSubtreeUDot() const
SimbodyMatterSubtreeResults()
int getNumSubtreeQs() const
const Transform & getSubtreeBodyTransform(SubtreeBodyIndex) const
void reallocateBodies(int nBodies)
const Vector & getSubtreeQ() const
void findSubtreeBodyU(SubtreeBodyIndex, SubtreeUIndex &uStart, int &nu) const
const Vector & getSubtreeU() const
SimbodyMatterSubtreeResults(const SimbodyMatterSubtreeResults &)
void findSubtreeBodyQ(SubtreeBodyIndex, SubtreeQIndex &qStart, int &nq) const
const SpatialVec & getSubtreeBodyVelocity(SubtreeBodyIndex) const
A SimbodyMatterSubtree is a view of a connected subgraph of the tree of mobilized bodies in a Simbody...
Definition: SimbodyMatterSubtree.h:109
void copyPositionsFromState(const State &, SimbodyMatterSubtreeResults &) const
SimbodyMatterSubtree(const SimbodyMatterSubsystem &, const Array_< MobilizedBodyIndex > &terminalBodies)
void calcAccelerationsFromSubtreeUDot(const State &, const Vector &subUDot, SimbodyMatterSubtreeResults &) const
void perturbAccelerations(const State &, SubtreeUIndex subUDotIndex, Real perturbation, SimbodyMatterSubtreeResults &) const
MobilizedBodyIndex getAncestorMobilizedBodyIndex() const
const Array_< MobilizedBodyIndex > & getTerminalBodies() const
void perturbPositions(const State &, SubtreeQIndex subQIndex, Real perturbation, SimbodyMatterSubtreeResults &) const
void calcPositionsFromSubtreeQ(const State &, const Vector &subQ, SimbodyMatterSubtreeResults &) const
void setSimbodyMatterSubsystem(const SimbodyMatterSubsystem &matter)
void perturbVelocities(const State &, SubtreeUIndex subUIndex, Real perturbation, SimbodyMatterSubtreeResults &) const
SimbodyMatterSubtree & addTerminalBody(MobilizedBodyIndex)
void calcVelocitiesFromSubtreeU(const State &, const Vector &subU, SimbodyMatterSubtreeResults &) const
const Array_< MobilizedBodyIndex > & getAllBodies() const
const SimbodyMatterSubsystem & getSimbodyMatterSubsystem() const
SubtreeBodyIndex getParentSubtreeBodyIndex(SubtreeBodyIndex) const
int getNumSubtreeBodies() const
const Array_< SubtreeBodyIndex > & getChildSubtreeBodyIndices(SubtreeBodyIndex) const
SimbodyMatterSubtree & operator=(const SimbodyMatterSubtree &)
void copyVelocitiesFromState(const State &, SimbodyMatterSubtreeResults &) const
void initializeSubtreeResults(const State &, SimbodyMatterSubtreeResults &) const
bool isCompatibleSubtreeResults(const SimbodyMatterSubtreeResults &) const
void calcVelocitiesFromZeroU(const State &, SimbodyMatterSubtreeResults &) const
SimbodyMatterSubtree(const SimbodyMatterSubsystem &)
SimbodyMatterSubtree(const SimbodyMatterSubtree &)
void calcAccelerationsFromZeroUDot(const State &, SimbodyMatterSubtreeResults &) const
void copyAccelerationsFromState(const State &, SimbodyMatterSubtreeResults &) const
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Unique integer type for Subsystem-local u indexing.
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
std::ostream & operator<<(std::ostream &o, const ContactForce &f)
Definition: CompliantContactSubsystem.h:387
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