Simbody  3.6
MobilizedBody_Translation.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
3 
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 https://simtk.org/home/simbody. *
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 http://www.apache.org/licenses/LICENSE-2.0. *
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  * -------------------------------------------------------------------------- */
26 
31 
32 namespace SimTK {
33 
39 public:
43 
50  Translation(MobilizedBody& parent, const Transform& X_PF,
51  const Body& bodyInfo, const Transform& X_BM,
52  Direction=Forward);
53 
56  Translation(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
57 
59  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
60  }
62  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
63  }
65  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
66  }
67 
69  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
70  }
71 
73  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
74  }
75 
81  return setDefaultQ(p_FM);
82  }
83 
85  const Vec3& getDefaultTranslation() const {
86  return getDefaultQ();
87  }
88 
92  void setTranslation(State& s, const Vec3& p_FM) const {
93  setQ(s,p_FM);
94  }
95 
99  const Vec3& getTranslation(const State& s) const {
100  return getQ(s);
101  }
102 
106  void setVelocity(State& s, const Vec3& v_FM) const {
107  setU(s,v_FM);
108  }
109 
113  const Vec3& getVelocity(const State& s) const {
114  return getU(s);
115  }
116 
121  const Vec3& getAcceleration(const State& s) const {
122  return getUDot(s);
123  }
124 
125  // These methods were misnamed and created some confusion with similar
126  // methods in the MobilizedBody base class. See issue #604.
127 
128  DEPRECATED_14("use setTranslation() instead")
129  void setMobilizerTranslation(State& s, const Vec3& p_FM) const {
130  setTranslation(s,p_FM);
131  }
132 
133  DEPRECATED_14("use getTranslation() instead")
134  const Vec3& getMobilizerTranslation(const State& s) const {
135  return getTranslation(s);
136  }
137 
138  DEPRECATED_14("use setVelocity() instead")
139  void setMobilizerVelocity(State& s, const Vec3& v_FM) const {
140  setVelocity(s,v_FM);
141  }
142 
143  DEPRECATED_14("use getVelocity() instead")
144  const Vec3& getMobilizerVelocity(const State& s) const {
145  return getVelocity(s);
146  }
147 
148  DEPRECATED_14("use getAcceleration() instead")
149  const Vec3& getMobilizerAcceleration(const State& s) const {
150  return getAcceleration(s);
151  }
152 
153  // Generic default state Topology methods.
154  const Vec3& getDefaultQ() const;
155  Translation& setDefaultQ(const Vec3& q);
156 
157  const Vec3& getQ(const State&) const;
158  const Vec3& getQDot(const State&) const;
159  const Vec3& getQDotDot(const State&) const;
160  const Vec3& getU(const State&) const;
161  const Vec3& getUDot(const State&) const;
162 
163  void setQ(State&, const Vec3&) const;
164  void setU(State&, const Vec3&) const;
165 
166  const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
167  const Vec3& getMyPartU(const State&, const Vector& ulike) const;
168 
169  Vec3& updMyPartQ(const State&, Vector& qlike) const;
170  Vec3& updMyPartU(const State&, Vector& ulike) const;
171  // hide from Doxygen
174  MobilizedBody);
176 };
177 
178 } // namespace SimTK
179 
180 #endif // SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
181 
182 
183 
Three translational mobilities describing the Cartesian motion of a point.
Definition: MobilizedBody_Translation.h:38
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...
void setTranslation(State &s, const Vec3 &p_FM) const
Set the current value of q's in the given State.
Definition: MobilizedBody_Translation.h:92
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
Translation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:64
Translation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:61
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
#define DEPRECATED_14(MSG)
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:289
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
Translation & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Translation.h:68
Translation & setDefaultTranslation(const Vec3 &p_FM)
This is just a nicer name for setting this mobilizer's topological default generalized coordinates q...
Definition: MobilizedBody_Translation.h:80
#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...
Translation & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Translation.h:72
const Vec3 & getDefaultTranslation() const
Get the topological default values for the initial q's.
Definition: MobilizedBody_Translation.h:85
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
Translation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:58
const Vec3 & getAcceleration(const State &s) const
Get the current value of the udot's for this mobilizer from the given State, which must be realized t...
Definition: MobilizedBody_Translation.h:121
const Vec3 & getTranslation(const State &s) const
Get the current value of the q's for this mobilizer from the given State.
Definition: MobilizedBody_Translation.h:99
const Vec3 & getVelocity(const State &s) const
Get the current value of the u's for this mobilizer from the given State.
Definition: MobilizedBody_Translation.h:113
void setVelocity(State &s, const Vec3 &v_FM) const
Set the current value of u's in the given State.
Definition: MobilizedBody_Translation.h:106
Translation()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Tra...
Definition: MobilizedBody_Translation.h:42