1 #ifndef SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_ 2 #define SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_ 127 const Vec6& stiffness,
const Vec6& damping);
149 const Vec6& stiffness,
const Vec6& damping);
215 const Transform& getDefaultFrameOnBody1()
const;
222 const Transform& getDefaultFrameOnBody2()
const;
227 const Vec6& getDefaultStiffness()
const;
233 const Vec6& getDefaultDamping()
const;
296 const Vec6& stiffness)
const;
309 const Vec6& damping)
const;
340 const Vec6& getStiffness(
const State& state)
const;
350 const Vec6& getDamping(
const State& state)
const;
367 const Vec6& getQ(
const State& state)
const;
423 const Vec6& getQDot(
const State& state)
const;
492 const Vec6& getF(
const State& state)
const;
540 Real getPotentialEnergy(
const State& state)
const;
560 Real getPowerDissipation(
const State& state)
const;
575 Real getDissipatedEnergy(
const State& state)
const;
589 void setDissipatedEnergy(
State& state,
Real energy)
const;
601 #endif // SimTK_SIMBODY_FORCE_LINEAR_BUSHING_H_ This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This force element represents a bushing acting to connect a frame F fixed on one body (B1) to a frame...
Definition: Force_LinearBushing.h:101
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
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#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
LinearBushing()
Default constructor creates an empty handle.
Definition: Force_LinearBushing.h:152