1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_H_ 2 #define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_H_ 69 Real defaultStiffness,
109 Real getDefaultStiffness()
const;
113 Real getDefaultQZero()
const;
129 Real stiffness)
const;
152 Real getStiffness(
const State& state)
const;
170 Real defaultStiffness,
174 defaultStiffness, defaultQZero);
180 MobilityLinearSpringImpl,
Force);
186 #endif // SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_H_ This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
A linear spring that acts along or around a mobility coordinate to apply a generalized force there...
Definition: Force_MobilityLinearSpring.h:49
MobilityLinearSpring(GeneralForceSubsystem &forces, const MobilizedBody &mobod, int whichQ, Real defaultStiffness, Real defaultQZero)
Deprecated: Alternate signature for backwards compatibility – for safety you should prefer using the...
Definition: Force_MobilityLinearSpring.h:167
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.
#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
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
MobilityLinearSpring()
Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearSpring...
Definition: Force_MobilityLinearSpring.h:74