MobilizedBody_Ellipsoid.h

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#ifndef SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
 
/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2009-13 Stanford University and the Authors.        *
 * Authors: Ajay Seth, Michael Sherman                                        *
 * Contributors: Nicholas Bianco                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */
 
#include "simbody/internal/MobilizedBody.h"
 
namespace SimTK {
 
class SimTK_SIMBODY_EXPORT MobilizedBody::Ellipsoid : public MobilizedBody {
public:
    Ellipsoid() {}
      
    Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
              const Body& bodyInfo,  const Transform& X_BM,
              const Vec3& radii, Direction=Forward);
 
    Ellipsoid(MobilizedBody& parent,  const Body& bodyInfo,
              const Vec3& radii, Direction=Forward);
 
    Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
              const Body& bodyInfo,  const Transform& X_BM,
              Direction=Forward);
 
    Ellipsoid(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
 
    Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
              const Body& bodyInfo, const Transform& X_BM, const Vec3& radii,
              const CoordinateAxis& mirrorAxis, Direction=Forward);
 
    Ellipsoid(MobilizedBody& parent, const Body& bodyInfo, const Vec3& radii,
              const CoordinateAxis& mirrorAxis, Direction=Forward);
 
    Ellipsoid& setDefaultRadii(const Vec3& radii);
    const Vec3& getDefaultRadii() const;
 
    Ellipsoid& setMirrorAxis(const CoordinateAxis& mirrorAxis);
    bool isMirrored() const;
    CoordinateAxis getMirrorAxis() const;
    Ellipsoid& clearMirrorAxis();
 
    const Vec3& getRadii(const State& state) const;
    void setRadii(State& state, const Vec3& radii) const;
 
    void multiplyByPositionJacobianWrtRadii(
            const State&   state,
            const Vec3&    dradii,
            Vector_<Vec3>& dp_GB) const;
 
    Vec3 multiplyByPositionJacobianWrtRadiiTranspose(
            const State&         state,
            const Vector_<Vec3>& g_GB) const;
 
    Ellipsoid& setDefaultRotation(const Rotation& R_FM);
    Rotation getDefaultRotation() const;
 
    Ellipsoid& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
    }
    Ellipsoid& addOutboardDecoration(const Transform& X_MD,  const DecorativeGeometry& g) {
        (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
    }
    Ellipsoid& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
    }
 
    Ellipsoid& setDefaultInboardFrame(const Transform& X_PF) {
        (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
    }
 
    Ellipsoid& setDefaultOutboardFrame(const Transform& X_BM) {
        (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
    }
 
 
 
    // Generic default state Topology methods.
 
    const Quaternion& getDefaultQ() const;
    Quaternion& updDefaultQ();
    Ellipsoid& setDefaultQ(const Quaternion& q) {updDefaultQ()=q; return *this;}
 
    const Vec4& getQ(const State&) const;
    const Vec4& getQDot(const State&) const;
    const Vec4& getQDotDot(const State&) const;
    const Vec3& getU(const State&) const;
    const Vec3& getUDot(const State&) const;
 
    void setQ(State&, const Vec4&) const;
    void setU(State&, const Vec3&) const;
 
    const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
    const Vec3& getMyPartU(const State&, const Vector& ulike) const;
   
    Vec4& updMyPartQ(const State&, Vector& qlike) const;
    Vec3& updMyPartU(const State&, Vector& ulike) const;
 
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Ellipsoid, EllipsoidImpl, 
                                             MobilizedBody);
};
 
} // namespace SimTK
 
#endif // SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_