1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_H_ 2 #define SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_H_ 76 Vec3 q = getDefaultQ(); q[0] = a; setDefaultQ(q);
80 Vec3 q = getDefaultQ(); q.
updSubVec<2>(1) = r; setDefaultQ(q);
94 const Vec3& getDefaultQ()
const;
99 const Vec3& getQDotDot(
const State&)
const;
119 #endif // SimTK_SIMBODY_MOBILIZED_BODY_PLANAR_H_ const Vec2 & getTranslation(const State &s) const
Definition: MobilizedBody_Planar.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...
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
Planar()
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'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'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
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
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
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.
#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
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