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: Christopher Bruns *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
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23  * See the License for the specific language governing permissions and *
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32 namespace SimTK {
78 public:
91  SphericalCoords(MobilizedBody& parent, const Transform& X_PF,
92  const Body& bodyInfo, const Transform& X_BM,
93  Direction=Forward);
97  SphericalCoords(MobilizedBody& parent, const Body& bodyInfo,
98  Direction=Forward);
102  SphericalCoords(MobilizedBody& parent, const Transform& X_PF,
103  const Body& bodyInfo, const Transform& X_BM,
104  Real azimuthOffset, bool azimuthNegated,
105  Real zenithOffset, bool zenithNegated,
106  CoordinateAxis radialAxis, bool radialNegated,
107  Direction=Forward);
110  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
111  }
113  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
114  }
116  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
117  }
120  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
121  }
124  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
125  }
127  // Friendly, mobilizer-specific access to coordinates and speeds.
129  Vec3 q = getDefaultQ(); q.updSubVec<2>(0) = a; setDefaultQ(q);
130  return *this;
131  }
133  Vec3 q = getDefaultQ(); q[2] = r; setDefaultQ(q);
134  return *this;
135  }
136  SphericalCoords& setRadialAxis(CoordinateAxis);
137  SphericalCoords& setNegateAzimuth(bool);
138  SphericalCoords& setNegateZenith(bool);
139  SphericalCoords& setNegateRadial(bool);
141  const Vec2& getDefaultAngles() const {return getDefaultQ().getSubVec<2>(0);}
142  Real getDefaultTranslation() const {return getDefaultQ()[2];}
144  CoordinateAxis getRadialAxis() const;
145  bool isAzimuthNegated() const;
146  bool isZenithNegated() const;
147  bool isRadialNegated() const;
149  void setAngles(State& s, const Vec2& a) {setOneQ(s,0,a[0]); setOneQ(s,1,a[1]);}
150  void setRadius(State& s, Real r) {setOneQ(s,2,r);}
152  const Vec2& getAngles(const State& s) const {return getQ(s).getSubVec<2>(0);}
153  Real getRadius(const State& s) const {return getQ(s)[2];}
155  // Generic default state Topology methods.
156  const Vec3& getDefaultQ() const;
157  SphericalCoords& setDefaultQ(const Vec3& q);
159  const Vec3& getQ(const State&) const;
160  const Vec3& getQDot(const State&) const;
161  const Vec3& getQDotDot(const State&) const;
162  const Vec3& getU(const State&) const;
163  const Vec3& getUDot(const State&) const;
165  void setQ(State&, const Vec3&) const;
166  void setU(State&, const Vec3&) const;
168  const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
169  const Vec3& getMyPartU(const State&, const Vector& ulike) const;
171  Vec3& updMyPartQ(const State&, Vector& qlike) const;
172  Vec3& updMyPartU(const State&, Vector& ulike) const;
173  // hide from Doxygen
176  SphericalCoordsImpl, MobilizedBody);
178 };
180 } // namespace SimTK
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...
SphericalCoords & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:109
SphericalCoords & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_SphericalCoords.h:119
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
This class, along with its sister class CoordinateDirection, provides convenient manipulation of the ...
Definition: CoordinateAxis.h:53
SphericalCoords & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:115
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::Sph...
Definition: MobilizedBody_SphericalCoords.h:81
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
void setRadius(State &s, Real r)
Definition: MobilizedBody_SphericalCoords.h:150
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
SphericalCoords & setDefaultAngles(const Vec2 &a)
Definition: MobilizedBody_SphericalCoords.h:128
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
Real getDefaultTranslation() const
Definition: MobilizedBody_SphericalCoords.h:142
Definition: PrivateImplementation.h:343
SphericalCoords & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:112
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
SphericalCoords & setDefaultRadius(Real r)
Definition: MobilizedBody_SphericalCoords.h:132
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.
const Vec2 & getDefaultAngles() const
Definition: MobilizedBody_SphericalCoords.h:141
const Vec2 & getAngles(const State &s) const
Definition: MobilizedBody_SphericalCoords.h:152
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
void setAngles(State &s, const Vec2 &a)
Definition: MobilizedBody_SphericalCoords.h:149
Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x...
Definition: MobilizedBody_SphericalCoords.h:77
SphericalCoords & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_SphericalCoords.h:123
Real getRadius(const State &s) const
Definition: MobilizedBody_SphericalCoords.h:153