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 *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
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18  * copy of the License at *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
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22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
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25  * -------------------------------------------------------------------------- */
32 namespace SimTK {
60 public:
71  LineOrientation(MobilizedBody& parent, const Transform& X_PF,
72  const Body& bodyInfo, const Transform& X_BM,
73  Direction=Forward);
77  LineOrientation(MobilizedBody& parent, const Body& bodyInfo,
78  Direction=Forward);
81  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
82  }
84  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
85  }
87  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
88  }
91  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
92  }
95  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
96  }
98  // This is just a nicer name for the generalized coordinate.
100  return setDefaultQ(R_FM.convertRotationToQuaternion());
101  }
102  Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}
104  // Generic default state Topology methods.
105  const Quaternion& getDefaultQ() const;
106  LineOrientation& setDefaultQ(const Quaternion& q);
108  const Vec4& getQ(const State&) const;
109  const Vec4& getQDot(const State&) const;
110  const Vec4& getQDotDot(const State&) const;
111  const Vec2& getU(const State&) const;
112  const Vec2& getUDot(const State&) const;
114  void setQ(State&, const Vec4&) const;
115  void setU(State&, const Vec2&) const;
117  const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
118  const Vec2& getMyPartU(const State&, const Vector& ulike) const;
120  Vec4& updMyPartQ(const State&, Vector& qlike) const;
121  Vec2& updMyPartU(const State&, Vector& ulike) const;
122  // hide from Doxygen
125  LineOrientationImpl, MobilizedBody);
127 };
129 } // 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...
LineOrientation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_LineOrientation.h:80
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
Two mobilities, representing unrestricted orientation for a body which is inertialess along its own z...
Definition: MobilizedBody_LineOrientation.h:59
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
LineOrientation & setDefaultRotation(const Rotation &R_FM)
Definition: MobilizedBody_LineOrientation.h:99
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&#39;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
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...
LineOrientation & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_LineOrientation.h:94
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.
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Lin...
Definition: MobilizedBody_LineOrientation.h:63
LineOrientation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_LineOrientation.h:83
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
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41
Rotation getDefaultRotation() const
Definition: MobilizedBody_LineOrientation.h:102
LineOrientation & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_LineOrientation.h:90
LineOrientation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_LineOrientation.h:86