1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_ 121 const Vec3& q = getDefaultQ();
148 Real getDefaultRadius()
const;
155 const Vec3& getDefaultQ()
const;
166 const Vec3& getQ(
const State& state)
const;
171 const Vec3& getQDot(
const State& state)
const;
177 const Vec3& getQDotDot(
const State& state)
const;
183 const Vec3& getU(
const State& state)
const;
188 const Vec3& getUDot(
const State& state)
const;
194 void setQ(
State& state,
const Vec3& q)
const;
199 void setU(
State& state,
const Vec3& u)
const;
230 #endif // SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_ 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...
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
Gimbal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody, positioned relative to the mobilizer's M frame on that body.
Definition: MobilizedBody_Gimbal.h:134
const CoordinateAxis::ZCoordinateAxis ZAxis
Constant representing the Z coordinate axis; will implicitly convert to the integer 2 when used in a ...
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
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
Rotation getDefaultRotation() const
Return the default orientation for this mobilizer as a Rotation matrix.
Definition: MobilizedBody_Gimbal.h:120
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
const CoordinateAxis::YCoordinateAxis YAxis
Constant representing the Y coordinate axis; will implicitly convert to the integer 1 when used in a ...
Gimbal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Gim...
Definition: MobilizedBody_Gimbal.h:73
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
Three mobilities – unrestricted orientation modeled as a 1-2-3 body-fixed Euler angle sequence...
Definition: MobilizedBody_Gimbal.h:69
Definition: Rotation.h:42
Gimbal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody, positioned relative to the body's frame.
Definition: MobilizedBody_Gimbal.h:128
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
Gimbal & setDefaultInboardFrame(const Transform &X_PF)
Change the default inboard ("fixed") frame F on the parent body of this mobilizer.
Definition: MobilizedBody_Gimbal.h:92
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
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.
Gimbal & setDefaultRotation(const Rotation &R_FM)
Override the default orientation for this mobilizer.
Definition: MobilizedBody_Gimbal.h:111
#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
Gimbal & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Add DecorativeGeometry to the parent (inboard) body of this mobilizer, positioned relative to the mob...
Definition: MobilizedBody_Gimbal.h:139
Gimbal & setDefaultOutboardFrame(const Transform &X_BM)
Change the default outboard ("moving") frame M on this mobilized body (that is, on this mobilizer's c...
Definition: MobilizedBody_Gimbal.h:100
Vec3P convertRotationToBodyFixedXYZ() const
A convenient special case of convertThreeAxesRotationToThreeAngles().
Definition: Rotation.h:843
const CoordinateAxis::XCoordinateAxis XAxis
Constant representing the X coordinate axis; will implicitly convert to the integer 0 when used in a ...