Simbody  3.6
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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 *
11  * *
12  * Portions copyright (c) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
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20  * Unless required by applicable law or agreed to in writing, software *
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23  * See the License for the specific language governing permissions and *
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25  * -------------------------------------------------------------------------- */
32 namespace SimTK {
70 public:
73  Gimbal() {}
80  Gimbal(MobilizedBody& parent, const Transform& X_PF,
81  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
85  Gimbal(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
93  { (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }
101  { (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }
112  { return setDefaultQ(R_FM.convertRotationToBodyFixedXYZ()); }
121  const Vec3& q = getDefaultQ();
123  q[0], XAxis, q[1], YAxis, q[2], ZAxis);
124  }
129  { (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }
135  { (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }
140  { (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }
146  Gimbal& setDefaultRadius(Real r);
148  Real getDefaultRadius() const;
155  const Vec3& getDefaultQ() const; // X,Y,Z body-fixed Euler angles
161  Gimbal& setDefaultQ(const Vec3& q);
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;
207  const Vec3& getMyPartQ(const State& state, const Vector& qlike) const;
210  const Vec3& getMyPartU(const State& state, const Vector& ulike) const;
215  Vec3& updMyPartQ(const State& state, Vector& qlike) const;
219  Vec3& updMyPartU(const State& state, Vector& ulike) const; // Hide from Doxygen.
225 };
228 } // namespace SimTK
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 ...
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&#39;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&#39;s frame.
Definition: MobilizedBody_Gimbal.h:128
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...
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
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody&#39;s fundamental body-and-joint object used to parameterize a system&#39;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&#39;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 ...