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 *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
32 namespace SimTK {
39 public:
42  Planar() {}
49  Planar(MobilizedBody& parent, const Transform& X_PF,
50  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
54  Planar(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
57  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
58  }
60  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
61  }
63  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
64  }
67  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
68  }
71  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
72  }
74  // Friendly, mobilizer-specific access to coordinates and speeds.
76  Vec3 q = getDefaultQ(); q[0] = a; setDefaultQ(q);
77  return *this;
78  }
80  Vec3 q = getDefaultQ(); q.updSubVec<2>(1) = r; setDefaultQ(q);
81  return *this;
82  }
84  Real getDefaultAngle() const {return getDefaultQ()[0];}
85  const Vec2& getDefaultTranslation() const {return getDefaultQ().getSubVec<2>(1);}
87  void setAngle (State& s, Real a) {setOneQ(s,0,a);}
88  void setTranslation(State& s, const Vec2& r) {setOneQ(s,1,r[0]); setOneQ(s,2,r[1]);}
90  Real getAngle(const State& s) const {return getQ(s)[0];}
91  const Vec2& getTranslation(const State& s) const {return getQ(s).getSubVec<2>(1);}
93  // Generic default state Topology methods.
94  const Vec3& getDefaultQ() const;
95  Planar& setDefaultQ(const Vec3& q);
97  const Vec3& getQ(const State&) const;
98  const Vec3& getQDot(const State&) const;
99  const Vec3& getQDotDot(const State&) const;
100  const Vec3& getU(const State&) const;
101  const Vec3& getUDot(const State&) const;
103  void setQ(State&, const Vec3&) const;
104  void setU(State&, const Vec3&) const;
106  const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
107  const Vec3& getMyPartU(const State&, const Vector& ulike) const;
109  Vec3& updMyPartQ(const State&, Vector& qlike) const;
110  Vec3& updMyPartU(const State&, Vector& ulike) const;
111  // Don't let doxygen see this
115 };
117 } // namespace SimTK
const Vec2 & getTranslation(const State &s) const
Definition: MobilizedBody_Planar.h:91
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer&#39;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...
Three mobilities – z rotation and x,y translation.
Definition: MobilizedBody_Planar.h:38
Real getAngle(const State &s) const
Definition: MobilizedBody_Planar.h:90
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
Real getDefaultAngle() const
Definition: MobilizedBody_Planar.h:84
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
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pla...
Definition: MobilizedBody_Planar.h:42
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer&#39;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
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition: Vec.h:827
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
Planar & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Planar.h:56
Planar & setDefaultAngle(Real a)
Definition: MobilizedBody_Planar.h:75
Definition: PrivateImplementation.h:343
Planar & setDefaultTranslation(const Vec2 &r)
Definition: MobilizedBody_Planar.h:79
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Planar & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Planar.h:66
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.
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
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition: Vec.h:837
Planar & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Planar.h:62
void setAngle(State &s, Real a)
Definition: MobilizedBody_Planar.h:87
Planar & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Planar.h:70
const Vec2 & getDefaultTranslation() const
Definition: MobilizedBody_Planar.h:85
Planar & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Planar.h:59
void setTranslation(State &s, const Vec2 &r)
Definition: MobilizedBody_Planar.h:88