Simbody  3.6
ForceSubsystemGuts.h
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1 #ifndef SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
2 #define SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2005-12 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
31 #include "SimTKcommon.h"
32 
35 
36 namespace SimTK {
37 
40 public:
41  Guts(const String& name, const String& version)
42  : Subsystem::Guts(name,version)
43  {
44  }
45 
46  // Make sure the virtual destructor in Subsystem::Guts remains
47  // virtual in this intermediate class.
48  virtual ~Guts() { }
49 
50  // All the other Subsystem::Guts virtuals remain unresolved.
51 
52  // Return the MultibodySystem which owns this ForceSubsystem.
54  return MultibodySystem::downcast(getSystem());
55  }
56 
59  virtual Real calcPotentialEnergy(const State& state) const = 0;
60 
62 };
63 
64 // typedef ForceSubsystem::Guts ForceSubsystemRep;
65 
66 } // namespace SimTK
67 
68 #endif // SimTK_SIMBODY_FORCE_SUBSYSTEM_GUTS_H
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
const MultibodySystem & getMultibodySystem() const
Definition: ForceSubsystemGuts.h:53
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Guts(const String &name, const String &version)
Definition: ForceSubsystemGuts.h:41
Every Simbody header and source file should include this header before any other Simbody header...
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
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
The abstract parent of all Subsystem implementation classes.
Definition: SubsystemGuts.h:47
virtual ~Guts()
Destructor is virtual to permit cleanup of derived classes.
Definition: ForceSubsystemGuts.h:48
SimTK::String is a plug-compatible std::string replacement (plus some additional functionality) inten...
Definition: String.h:62
virtual Real calcPotentialEnergy(const State &state) const =0
Get this subsystem's contribution to the potential energy.
SimTK_DOWNCAST(ForceSubsystem::Guts, Subsystem::Guts)
Public declaration of internals for ForceSubsystem extension.
Definition: ForceSubsystemGuts.h:39
const System & getSystem() const
Definition: SubsystemGuts.h:302