1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_ 92 return getMyPartU(s,mobilityForces);
97 updMyPartU(s,mobilityForces) += torque;
105 Real getDefaultQ()
const;
141 #endif // SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_ Real getAppliedPinTorque(const State &s, const Vector &mobilityForces) const
Get the generalized force corresponding to this pin mobilizer in the given array of mobility forces...
Definition: MobilizedBody_Pin.h:91
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...
Real getAngle(const State &s) const
Get the value that this pin joint's angular coordinate has in the given state.
Definition: MobilizedBody_Pin.h:79
Real getDefaultAngle() const
Get the value that the pin angle will have in the default state.
Definition: MobilizedBody_Pin.h:70
Pin & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Pin.h:129
void setAngle(State &s, Real angleInRad)
Set the pin joint angle (generalized coordinate q) in the given state.
Definition: MobilizedBody_Pin.h:76
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
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.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Pin()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pin...
Definition: MobilizedBody_Pin.h:50
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
void applyPinTorque(const State &s, Real torque, Vector &mobilityForces) const
Add in a torque to the generalized force element corresponding to this pin mobilizer in the given arr...
Definition: MobilizedBody_Pin.h:96
Pin & setDefaultAngle(Real angleInRad)
Set the value that the pin angle should have in the default state.
Definition: MobilizedBody_Pin.h:68
#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...
Pin & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:125
void setRate(State &s, Real rateInRadPerTime)
Set the rotation rate (generalized speed u) for this pin joint in the given state.
Definition: MobilizedBody_Pin.h:83
Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer...
Definition: MobilizedBody_Pin.h:46
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
Real getRate(const State &s) const
Get the current rotation rate (generalized speed u) that this pin mobilizer has in the given state...
Definition: MobilizedBody_Pin.h:86
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.
Pin & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:127
Pin & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Pin.h:131
Pin & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:123
#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