1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_ 88 Real getDefaultRadius()
const;
96 const Vec4& getQDotDot(
const State&)
const;
117 #endif // SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_ Ball & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:62
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
Ball & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:68
Rotation getDefaultRotation() const
Definition: MobilizedBody_Ball.h:84
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
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
Ball & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:65
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Rotation_< Real > Rotation
Definition: Rotation.h:47
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Convenience method to add DecorativeGeometry specified relative to the new (outboard) body's referenc...
Definition: MobilizedBody.h:1504
This is a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:618
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Three mobilities – unrestricted orientation modeled with a quaternion which is never singular...
Definition: MobilizedBody_Ball.h:44
Ball()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Bal...
Definition: MobilizedBody_Ball.h:48
Ball & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ball.h:72
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
This defines the MobilizedBody class, which associates a new body (the "child", "outboard", or "successor" body) with a mobilizer and a reference frame on an existing body (the "parent", "inboard", or "predecessor" body) that is already part of a SimbodyMatterSubsystem.
#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
Ball & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ball.h:76
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41
Ball & setDefaultRotation(const Rotation &R_FM)
Definition: MobilizedBody_Ball.h:81