1 #ifndef SimTK_SIMBODY_CONSTRAINT_WELD_H_ 2 #define SimTK_SIMBODY_CONSTRAINT_WELD_H_ 88 Real getAxisDisplayLength()
const;
98 const Transform& getDefaultFrameOnBody1()
const;
106 const Transform& getDefaultFrameOnBody2()
const;
123 Vec6 getPositionErrors(
const State&)
const;
124 Vec6 getVelocityErrors(
const State&)
const;
127 Vec6 getAccelerationErrors(
const State&)
const;
142 #endif // SimTK_SIMBODY_CONSTRAINT_WELD_H_ This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
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:606
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:618
Six constraint equations.
Definition: Constraint_Weld.h:60
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66
Weld()
Default constructor creates an empty handle.
Definition: Constraint_Weld.h:76