1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_H_
48class SimbodyMatterSubsystem;
51class MobilizedBodyImpl;
56#ifndef SimTK_SIMBODY_DEFINING_MOBILIZED_BODY
57 extern template class PIMPLHandle<MobilizedBody, MobilizedBodyImpl, true>;
327 return getBodyTransform(state).R();
334 return getBodyTransform(state).p();
355 return getBodyVelocity(state)[0];
362 return getBodyVelocity(state)[1];
384 return getBodyAcceleration(state)[0];
392 return getBodyAcceleration(state)[1];
402"MobilizedBody::getMobilizerAcceleration() not yet implemented -- volunteers?");
418 return getBodyMassProperties(state).getMass();
425 return getBodyMassProperties(state).getMassCenter();
432 return getBodyMassProperties(state).getUnitInertia();
721 const Transform& X_GB = this->getBodyTransform(state);
735 const Rotation& R_GB = this->getBodyRotation(state);
749 getBodyOriginLocation(state));
760 const SpatialVec& V_GB = this->getBodyVelocity(state);
763 const Vec3 w_AB_G = V_GB[0]-V_GA[0];
767 const Transform& X_GB = getBodyTransform(state);
770 const Vec3 p_AB_G = X_GB.
p() - X_GA.
p();
772 const Vec3 p_AB_G_dot = V_GB[1] - V_GA[1];
775 const Vec3 v_AB_G = p_AB_G_dot - V_GA[0] % p_AB_G;
789 const Vec3& w_GB = getBodyAngularVelocity(state);
792 const Vec3 w_AB_G = w_GB-w_GA;
807 return findBodyVelocityInAnotherBody(state,inBodyA)[1];
822 const Transform& X_GB = this->getBodyTransform(state);
823 const SpatialVec& V_GB = this->getBodyVelocity(state);
824 const SpatialVec& A_GB = this->getBodyAcceleration(state);
840 const Vec3& w_GB = this->getBodyAngularVelocity(state);
842 const Vec3& b_GB = this->getBodyAngularAcceleration(state);
845 const Vec3 w_AB_G = w_GB - w_GA;
846 const Vec3 w_AB_G_dot = b_GB - b_GA;
851 const Vec3 b_AB_G = w_AB_G_dot - w_GA % w_AB_G;
854 return ~R_GA * b_AB_G;
868 return findBodyAccelerationInAnotherBody(state,inBodyA)[1];
887 (
const State& state)
const;
907 (
const State& state)
const;
916 (
const State& state,
const Vec3& stationOnB)
const {
917 return getBodyTransform(state) * stationOnB;
934 findStationLocationInGround(state,stationOnB));
944 (
const State& state,
const Vec3& stationOnB)
const {
945 const Vec3& w = getBodyAngularVelocity(state);
946 const Vec3& v = getBodyOriginVelocity(state);
947 const Vec3 r = expressVectorInGroundFrame(state,stationOnB);
958 const Vec3& stationOnBodyB,
962 findBodyVelocityInAnotherBody(state, inBodyA);
965 expressVectorInAnotherBodyFrame(state, stationOnBodyB, inBodyA);
966 return V_AB[1] + (V_AB[0] % p_BS_A);
978 (
const State& state,
const Vec3& stationOnB)
const {
979 const Vec3& w = getBodyAngularVelocity(state);
980 const Vec3& b = getBodyAngularAcceleration(state);
981 const Vec3& a = getBodyOriginAcceleration(state);
983 const Vec3 r = expressVectorInGroundFrame(state,stationOnB);
984 return a + b % r + w % (w % r);
993 const Vec3& stationOnBodyB,
997 findBodyAngularVelocityInAnotherBody(state,inBodyA);
999 findBodyAccelerationInAnotherBody(state,inBodyA);
1002 expressVectorInAnotherBodyFrame(state, stationOnBodyB, inBodyA);
1004 return A_AB[1] + (A_AB[0] % p_BS_A) + w_AB % (w_AB % p_BS_A);
1011 (
const State& state,
const Vec3& locationOnB,
1012 Vec3& locationOnGround,
Vec3& velocityInGround)
const
1014 const Vec3& p_GB = getBodyOriginLocation(state);
1015 const Vec3 p_BS_G = expressVectorInGroundFrame(state,locationOnB);
1016 locationOnGround = p_GB + p_BS_G;
1018 const Vec3& w_GB = getBodyAngularVelocity(state);
1019 const Vec3& v_GB = getBodyOriginVelocity(state);
1020 velocityInGround = v_GB + w_GB % p_BS_G;
1029 (
const State& state,
const Vec3& locationOnB,
1030 Vec3& locationOnGround,
Vec3& velocityInGround,
Vec3& accelerationInGround)
1033 const Rotation& R_GB = getBodyRotation(state);
1034 const Vec3& p_GB = getBodyOriginLocation(state);
1037 const Vec3 r = R_GB*locationOnB;
1038 locationOnGround = p_GB + r;
1040 const Vec3& w = getBodyAngularVelocity(state);
1041 const Vec3& v = getBodyOriginVelocity(state);
1042 const Vec3& b = getBodyAngularAcceleration(state);
1043 const Vec3& a = getBodyOriginAcceleration(state);
1045 const Vec3 wXr = w % r;
1046 velocityInGround = v + wXr;
1047 accelerationInGround = a + b % r + w % wXr;
1053 return findStationLocationInGround(state,getBodyMassCenterStation(state));
1061 return findStationLocationInAnotherBody(state,
1062 getBodyMassCenterStation(state),toBodyA);
1072 (
const State& state,
const Vec3& locationInG)
const {
1073 return ~getBodyTransform(state) * locationInG;
1083 const Vec3& stationOnA)
const {
1092 return findStationAtGroundPoint(state,
1102 getBodyMassCenterStation(state),*
this);
1110 return getBodyTransform(state) * frameOnB;
1120 return SpatialVec(getBodyAngularVelocity(state),
1121 findStationVelocityInGround(state,frameOnB.
p()));
1131 return SpatialVec(getBodyAngularAcceleration(state),
1132 findStationAccelerationInGround(state,frameOnB.
p()));
1139 (
const State& state,
const Vec3& vectorInB)
const {
1140 return getBodyRotation(state)*vectorInB;
1148 (
const State& state,
const Vec3& vectorInG)
const {
1149 return ~getBodyRotation(state)*vectorInG;
1158 (
const State& state,
const Vec3& vectorInB,
1162 expressVectorInGroundFrame(state,vectorInB));
1171 const Rotation& R_GB = getBodyRotation(state);
1182 const Rotation R_AB = findBodyRotationInAnotherBody(state,inBodyA);
1218 const Rotation& R_GB = getBodyRotation(state);
1231 return getBodyMassProperties(state).calcCentralInertia();
1239 const Vec3& aboutLocationOnBodyA)
const
1246 const Vec3 p_Bo_PA =
1247 findStationAtAnotherBodyStation(state, inBodyA, aboutLocationOnBodyA);
1264 const MassProperties M_Bo_G = expressMassPropertiesInGroundFrame(state);
1265 const SpatialVec& V_GB = getBodyVelocity(state);
1272 (
const State& state)
const {
1274 const Rotation& R_GB = getBodyRotation(state);
1281 const Vec3& w_GB = getBodyAngularVelocity(state);
1292 const Vec3& locationOnBodyB,
1294 const Vec3& locationOnBodyA)
const
1296 if (isSameMobilizedBody(bodyA))
1297 return (locationOnBodyA-locationOnBodyB).norm();
1299 const Vec3 r_Go_PB =
1300 this->findStationLocationInGround(state,locationOnBodyB);
1301 const Vec3 r_Go_PA =
1303 return (r_Go_PA - r_Go_PB).
norm();
1312 (
const State& state,
1313 const Vec3& locationOnBodyB,
1315 const Vec3& locationOnBodyA)
const
1317 if (isSameMobilizedBody(bodyA))
1320 Vec3 rB, rA, vB, vA;
1321 this->findStationLocationAndVelocityInGround(state,locationOnBodyB,rB,vB);
1323 const Vec3 r = rA-rB, v = vA-vB;
1329 if (d==0)
return v.
norm();
1330 else return dot(v, r/d);
1340 (
const State& state,
1341 const Vec3& locationOnBodyB,
1343 const Vec3& locationOnBodyA)
const
1345 if (isSameMobilizedBody(bodyA))
1348 Vec3 rB, rA, vB, vA, aB, aA;
1349 this->findStationLocationVelocityAndAccelerationInGround
1350 (state,locationOnBodyB,rB,vB,aB);
1352 (state,locationOnBodyA,rA,vA,aA);
1354 const Vec3 r = rA-rB, v = vA-vB, a = aA-aB;
1369 if (s==0)
return a.
norm();
1370 else return dot(a, v/s);
1375 const Vec3 vp = v -
dot(v,u)*u;
1376 return dot(a,u) +
dot(vp,v)/d;
1383 (
const State& state,
1384 const Vec3& locationOnBodyB,
1385 const Vec3& velocityOnBodyB,
1389 "MobilizedBody::calcBodyMovingPointVelocityInBody()"
1390 " is not yet implemented -- any volunteers?");
1399 (
const State& state,
1400 const Vec3& locationOnBodyB,
1401 const Vec3& velocityOnBodyB,
1402 const Vec3& accelerationOnBodyB,
1406 "MobilizedBody::calcBodyMovingPointAccelerationInBody()"
1407 " is not yet implemented -- any volunteers?");
1418 (
const State& state,
1419 const Vec3& locationOnBodyB,
1420 const Vec3& velocityOnBodyB,
1422 const Vec3& locationOnBodyA,
1423 const Vec3& velocityOnBodyA)
const
1426 "MobilizedBody::calcMovingPointToPointDistanceTimeDerivative()"
1427 " is not yet implemented -- any volunteers?");
1439 (
const State& state,
1440 const Vec3& locationOnBodyB,
1441 const Vec3& velocityOnBodyB,
1442 const Vec3& accelerationOnBodyB,
1444 const Vec3& locationOnBodyA,
1445 const Vec3& velocityOnBodyA,
1446 const Vec3& accelerationOnBodyA)
const
1449 "MobilizedBody::calcMovingPointToPointDistance2ndTimeDerivative()"
1450 " is not yet implemented -- any volunteers?");
1506 return updBody().addDecoration(X_BD, geometry);
1511 return updBody().addDecoration(geometry);
1551 updBody().setDefaultRigidBodyMassProperties(m);
1558 return getBody().getDefaultRigidBodyMassProperties();
1681 (
const State& state,
int which,
const Vector& qlike)
const;
1688 (
const State& state,
int which,
Vector& qlike)
const;
1694 (
const State& state,
int which,
const Vector& ulike)
const;
1708 Vector& mobilityForces)
const
1710 updOneFromUPartition(state,which,mobilityForces) += f;
1781 (
const State& state,
const Vec3& pointInB,
const Vec3& forceInG,
1864class BendStretchImpl;
1869class TranslationImpl;
1870class SphericalCoordsImpl;
1872class LineOrientationImpl;
1879class FunctionBasedImpl;
This defines the API for the Body base class and concrete Body types like Body::Rigid that are derive...
#define SimTK_ASSERT_ALWAYS(cond, msg)
Definition: ExceptionMacros.h:349
This defines the Motion class, which is used to specify how the mobilities associated with a particul...
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:1520
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
The physical meaning of an inertia is the distribution of a rigid body's mass about a particular poin...
Definition: MassProperties.h:193
Inertia_ reexpress(const Rotation_< P > &R_FB) const
Return a new inertia matrix like this one but re-expressed in another frame (leaving the origin point...
Definition: MassProperties.h:371
This class contains the mass, center of mass, and unit inertia matrix of a rigid body B.
Definition: MassProperties.h:1363
Inertia_< P > calcShiftedInertia(const Vec< 3, P > &newOriginB) const
Return the inertia of this MassProperties object, but with the "measured about" point shifted from th...
Definition: MassProperties.h:1434
MassProperties_ reexpress(const Rotation_< P > &R_BC) const
Re-express these mass properties from the current frame "B" to a new frame "C", given the orientation...
Definition: MassProperties.h:1475
Mat< 2, 2, Mat< 3, 3, P > > toSpatialMat() const
Convert this MassProperties object to a spatial inertia matrix and return it as a SpatialMat,...
Definition: MassProperties.h:1526
const P & getMass() const
Return the mass currently stored in this MassProperties object.
Definition: MassProperties.h:1401
Inertia_< P > calcCentralInertia() const
Return the inertia of this MassProperties object, but measured about the mass center rather than abou...
Definition: MassProperties.h:1427
const Vec< 3, P > & getMassCenter() const
Return the mass center currently stored in this MassProperties object; this is expressed in an implic...
Definition: MassProperties.h:1406
This class represents a small matrix whose size is known at compile time, containing elements of any ...
Definition: Mat.h:97
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
Three mobilities – unrestricted orientation modeled with a quaternion which is never singular.
Definition: MobilizedBody_Ball.h:44
Two mobilities: The z axis of the parent's F frame is used for rotation (and that is always aligned w...
Definition: MobilizedBody_BendStretch.h:42
Six mobilities – arbitrary relative motion modeled as x-y-z translation followed by an x-y-z body-fix...
Definition: MobilizedBody_Bushing.h:86
The handle class MobilizedBody::Custom (dataless) and its companion class MobilizedBody::Custom::Impl...
Definition: MobilizedBody_Custom.h:72
Two mobilities – rotation and translation along the common z axis of the inboard and outboard mobiliz...
Definition: MobilizedBody_Cylinder.h:42
Three mobilities – coordinated rotation and translation along the surface of an ellipsoid fixed to th...
Definition: MobilizedBody_Ellipsoid.h:45
Five mobilities, representing unrestricted motion for a body which is inertialess along its own z axi...
Definition: MobilizedBody_FreeLine.h:58
Unrestricted motion for a rigid body (six mobilities).
Definition: MobilizedBody_Free.h:52
This is a subclass of MobilizedBody::Custom which uses a set of Function objects to define the behavi...
Definition: MobilizedBody_FunctionBased.h:47
Three mobilities – unrestricted orientation modeled as a 1-2-3 body-fixed Euler angle sequence,...
Definition: MobilizedBody_Gimbal.h:69
This is a special type of "mobilized" body generated automatically by Simbody as a placeholder for Gr...
Definition: MobilizedBody_Ground.h:45
Two mobilities, representing unrestricted orientation for a body which is inertialess along its own z...
Definition: MobilizedBody_LineOrientation.h:59
Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer.
Definition: MobilizedBody_Pin.h:46
Three mobilities – z rotation and x,y translation.
Definition: MobilizedBody_Planar.h:38
One mobility – coordinated rotation and translation along the common z axis of the inboard and outboa...
Definition: MobilizedBody_Screw.h:39
One mobility – translation along the common x axis of the F (inboard) and M (outboard) mobilizer fram...
Definition: MobilizedBody_Slider.h:46
Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x.
Definition: MobilizedBody_SphericalCoords.h:77
Three translational mobilities describing the Cartesian motion of a point.
Definition: MobilizedBody_Translation.h:38
Two mobilities – rotation about the x axis, followed by a rotation about the new y axis.
Definition: MobilizedBody_Universal.h:40
Zero mobilities.
Definition: MobilizedBody_Weld.h:43
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
int getNumU(const State &state) const
Return the number of generalized speeds u currently in use by this mobilizer.
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
Vec3 findBodyOriginVelocityInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the velocity of body B's origin point in body A's frame, expressed in body A.
Definition: MobilizedBody.h:803
const SpatialInertia & getBodySpatialInertiaInGround(const State &state) const
Return a reference to the already-calculated SpatialInertia of this body, taken about the body's orig...
SimbodyMatterSubsystem & updMatterSubsystem()
Obtain a writable reference to the SimbodyMatterSubsystem which contains this MobilizedBody.
Vec3 findStationLocationInAnotherBody(const State &state, const Vec3 &stationOnB, const MobilizedBody &toBodyA) const
Given a station S on this body B, return the location on another body A which is at the same location...
Definition: MobilizedBody.h:930
const MobilizedBody & getBaseMobilizedBody() const
Return a reference to this MobilizedBody's oldest ancestor other than Ground, or return Ground if thi...
MobilizedBody & cloneForNewParent(MobilizedBody &parent) const
Create a new MobilizedBody which is identical to this one, except that it has a different parent (and...
Slider Prismatic
Synonym for Slider mobilizer.
Definition: MobilizedBody.h:1831
const DecorativeGeometry & getOutboardDecoration(int i) const
Return a const reference to the i'th outboard decoration.
int getLevelInMultibodyTree() const
Return this mobilized body's level in the tree of bodies, starting with Ground at 0,...
const Transform & getInboardFrame(const State &state) const
Return a reference to this mobilizer's frame F fixed on the parent body P, as the fixed Transform fro...
SpatialVec findMobilizerReactionOnBodyAtOriginInGround(const State &state) const
Return the spatial reaction force (moment and force) applied by the mobilizer to body B but shifted t...
SpatialVec findBodyAccelerationInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the angular and linear acceleration of body B's frame in body A's frame, expressed in body A,...
Definition: MobilizedBody.h:816
SpatialMat calcBodySpatialInertiaMatrixInGround(const State &state) const
Return the mass properties of body B, measured from and about the B origin Bo, but expressed in Groun...
Definition: MobilizedBody.h:1212
const Transform & getDefaultOutboardFrame() const
Return a reference to this MobilizedBody's default for mobilizer frame M, as the fixed Transform from...
const Transform & getBodyTransform(const State &state) const
Extract from the state cache the already-calculated spatial configuration X_GB of body B's body frame...
Motion::Method getUDotMotionMethod(const State &state) const
Determine how generalized acceleration udot values are being determined.
const Vec3 & getBodyOriginAcceleration(const State &state) const
Extract from the state cache the already-calculated inertial linear acceleration vector a_GB (more ex...
Definition: MobilizedBody.h:391
Vec3 findStationVelocityInAnotherBody(const State &state, const Vec3 &stationOnBodyB, const MobilizedBody &inBodyA) const
Return the velocity of a station S fixed on body B, in body A's frame, expressed in body A.
Definition: MobilizedBody.h:957
void applyBodyTorque(const State &state, const Vec3 &torqueInG, Vector_< SpatialVec > &bodyForcesInG) const
This utility adds in the supplied pure torque torqueInG to the appropriate slot of the supplied bodyF...
Vec3 calcBodyMovingPointAccelerationInBody(const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const Vec3 &accelerationOnBodyB, const MobilizedBody &inBodyA) const
TODO: not implemented yet – any volunteers? Return the velocity of a point P moving (and possibly acc...
Definition: MobilizedBody.h:1399
SpatialVec calcBodyMomentumAboutBodyMassCenterInGround(const State &state) const
Calculate body B's momentum (angular, linear) measured and expressed in Ground, but taken about the b...
Definition: MobilizedBody.h:1272
int addBodyDecoration(const DecorativeGeometry &geometry)
Convenience method for use when the geometry is supplied in the body frame.
Definition: MobilizedBody.h:1510
const Vec3 & getBodyOriginLocation(const State &state) const
Extract from the state cache the already-calculated spatial location of body B's body frame origin Bo...
Definition: MobilizedBody.h:333
Ball Orientation
Synonym for Ball mobilizer.
Definition: MobilizedBody.h:1848
void lockAt(State &state, const Vector &value, Motion::Level level=Motion::Position) const
Lock this mobilizer's q, u, or udot to the given Vector value, depending on level.
Vector getLockValueAsVector(const State &state) const
Return the q, u, or udot value at which this mobilizer is locked, depending on the lock level,...
const Transform & getOutboardFrame(const State &state) const
Return a reference to this MobilizedBody's mobilizer frame M, as the fixed Transform from this body B...
Inertia calcBodyCentralInertia(const State &state, MobilizedBodyIndex objectBodyB) const
Return the central inertia for body B, that is, the inertia taken about body B's mass center Bc,...
Definition: MobilizedBody.h:1228
void applyBodyForce(const State &state, const SpatialVec &spatialForceInG, Vector_< SpatialVec > &bodyForcesInG) const
This utility adds in the supplied spatial force spatialForceInG (consisting of a torque vector,...
DecorativeGeometry & updInboardDecoration(int i)
Return a writable reference to the i'th inboard decoration.
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
SpatialVec getH_FMCol(const State &state, MobilizerUIndex ux) const
Expert use only: obtain a column of the mobilizer-local hinge matrix H_FM which maps generalized spee...
MassProperties expressMassPropertiesInAnotherBodyFrame(const State &state, const MobilizedBody &inBodyA) const
Re-express this body B's mass properties in another body A's frame by applying only a rotation,...
Definition: MobilizedBody.h:1180
Translation Cartesian
Synonym for Translation mobilizer.
Definition: MobilizedBody.h:1834
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 CartesianCoords
Synonym for Translation mobilizer.
Definition: MobilizedBody.h:1835
bool isLocked(const State &state) const
Check whether this mobilizer is currently locked in the given state.
Definition: MobilizedBody.h:263
const SpatialVec & getBodyVelocity(const State &state) const
Extract from the state cache the already-calculated spatial velocity V_GB of this body's reference fr...
bool isInSubsystem() const
Determine whether the current MobilizedBody object is owned by a matter subsystem.
Real getOneQDot(const State &state, int which) const
Return one of the generalized coordinate derivatives qdot from this mobilizer's partition of the matt...
Real getOneQDotDot(const State &state, int which) const
Return one of the generalized coordinate second derivatives qdotdot from this mobilizer's partition o...
Real calcMovingPointToPointDistance2ndTimeDerivative(const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const Vec3 &accelerationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA, const Vec3 &velocityOnBodyA, const Vec3 &accelerationOnBodyA) const
TODO: not implemented yet – any volunteers? Calculate the second time derivative of distance from a m...
Definition: MobilizedBody.h:1439
const Vec3 & getBodyOriginVelocity(const State &state) const
Extract from the state cache the already-calculated inertial linear velocity vector v_GB (more explic...
Definition: MobilizedBody.h:361
Pin Torsion
Synonym for Pin mobilizer.
Definition: MobilizedBody.h:1823
SpatialVec getHCol(const State &state, MobilizerUIndex ux) const
Expert use only: obtain a column of the hinge matrix H corresponding to one of this mobilizer's mobil...
Vec3 findStationAtGroundPoint(const State &state, const Vec3 &locationInG) const
Return the station (point) S of this body B that is coincident with the given Ground location.
Definition: MobilizedBody.h:1072
void setInboardFrame(State &state, const Transform &X_PF) const
TODO: not implemented yet.
void setQToFitTransform(State &state, const Transform &X_FM) const
Adjust this mobilizer's q's to best approximate the supplied Transform which requests a particular re...
void findStationLocationVelocityAndAccelerationInGround(const State &state, const Vec3 &locationOnB, Vec3 &locationOnGround, Vec3 &velocityInGround, Vec3 &accelerationInGround) const
It is cheaper to calculate a station's ground location, velocity, and acceleration together than to d...
Definition: MobilizedBody.h:1029
const Rotation & getBodyRotation(const State &state) const
Extract from the state cache the already-calculated spatial orientation R_GB of body B's body frame x...
Definition: MobilizedBody.h:326
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
void lock(State &state, Motion::Level level=Motion::Position) const
Lock this mobilizer's position or velocity at its current value, or lock the acceleration to zero,...
Real calcMovingPointToPointDistanceTimeDerivative(const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA, const Vec3 &velocityOnBodyA) const
TODO: not implemented yet – any volunteers? Calculate the time rate of change of distance from a movi...
Definition: MobilizedBody.h:1418
Motion::Method getUMotionMethod(const State &state) const
Determine how generalized speed u values are being determined.
Motion::Method getQMotionMethod(const State &state) const
Determine how generalized coordinate q values are being determined.
SpatialVec findMobilizerReactionOnParentAtOriginInGround(const State &state) const
Return the spatial reaction force (moment and force) applied by the mobilizer to the parent (inboard)...
Vec3 findStationAtAnotherBodyStation(const State &state, const MobilizedBody &fromBodyA, const Vec3 &stationOnA) const
Return the station (point) on this body B that is coincident with the given station on another body A...
Definition: MobilizedBody.h:1082
void findStationLocationAndVelocityInGround(const State &state, const Vec3 &locationOnB, Vec3 &locationOnGround, Vec3 &velocityInGround) const
It is cheaper to calculate a station's ground location and velocity together than to do them separate...
Definition: MobilizedBody.h:1011
Vector getQAsVector(const State &state) const
Return as a Vector of length getNumQ() all the generalized coordinates q currently in use by this mob...
const DecorativeGeometry & getInboardDecoration(int i) const
Return a const reference to the i'th inboard decoration.
MobilizedBody()
The default constructor provides an empty MobilizedBody handle that can be assigned to reference any ...
Definition: MobilizedBody.h:1465
Rotation findBodyRotationInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return R_AB, the rotation matrix giving this body B's axes in body A's frame.
Definition: MobilizedBody.h:731
const Vec3 & getBodyMassCenterStation(const State &state) const
Return this body's center of mass station (i.e., the vector fixed in the body, going from body origin...
Definition: MobilizedBody.h:424
Vec3 findBodyOriginAccelerationInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the acceleration of body B's origin point in body A's frame, expressed in body A.
Definition: MobilizedBody.h:863
void setUToFitAngularVelocity(State &state, const Vec3 &w_FM) const
Adjust this mobilizer's u's (generalized speeds) to best approximate the supplied angular velocity w_...
Real & updOneFromUPartition(const State &state, int which, Vector &ulike) const
This utility returns a writable reference to one of the u's (generalized speeds) associated with this...
const SpatialVec & getMobilizerAcceleration(const State &state) const
TODO: Not implemented yet – any volunteers? At stage Acceleration, return the cross-mobilizer acceler...
Definition: MobilizedBody.h:400
bool isInSameSubsystem(const MobilizedBody &mobod) const
Determine whether a given MobilizedBody mobod is in the same matter subsystem as the current body.
Vec3 findStationAccelerationInAnotherBody(const State &state, const Vec3 &stationOnBodyB, const MobilizedBody &inBodyA) const
Return the acceleration of a station S fixed on body B, in another body A's frame,...
Definition: MobilizedBody.h:992
Real calcStationToStationDistanceTimeDerivative(const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
Calculate the time rate of change of distance from a fixed point PB on body B to a fixed point PA on ...
Definition: MobilizedBody.h:1312
Vec3 calcBodyMovingPointVelocityInBody(const State &state, const Vec3 &locationOnBodyB, const Vec3 &velocityOnBodyB, const MobilizedBody &inBodyA) const
TODO: not implemented yet – any volunteers? Return the velocity of a point P moving on body B,...
Definition: MobilizedBody.h:1383
const Vec3 & getBodyAngularVelocity(const State &state) const
Extract from the state cache the already-calculated inertial angular velocity vector w_GB of this bod...
Definition: MobilizedBody.h:354
MassProperties expressMassPropertiesInGroundFrame(const State &state) const
Re-express this body B's mass properties in Ground by applying only a rotation, not a shift of refere...
Definition: MobilizedBody.h:1169
const SpatialVec & getBodyAcceleration(const State &state) const
Extract from the state cache the already-calculated spatial acceleration A_GB of this body's referenc...
SpatialVec findMobilizerReactionOnBodyAtMInGround(const State &state) const
Return the spatial reaction force (moment and force) applied by the mobilizer to body B at the locati...
int getNumQ(const State &state) const
Return the number of generalized coordinates q currently in use by this mobilizer.
void applyForceToBodyPoint(const State &state, const Vec3 &pointInB, const Vec3 &forceInG, Vector_< SpatialVec > &bodyForcesInG) const
This utility adds in the supplied force forceInG applied at a point pointInB to the appropriate slot ...
const SpatialVec & getMobilizerVelocity(const State &state) const
At stage Velocity or higher, return the cross-mobilizer velocity V_FM, the relative velocity of this ...
const Vec3 & getBodyAngularAcceleration(const State &state) const
Extract from the state cache the already-calculated inertial angular acceleration vector b_GB of this...
Definition: MobilizedBody.h:383
BendStretch PolarCoords
Synonym for BendStretch mobilizer.
Definition: MobilizedBody.h:1838
const UnitInertia & getBodyUnitInertiaAboutBodyOrigin(const State &state) const
Return a reference to this body's unit inertia matrix in the State cache, taken about the body origin...
Definition: MobilizedBody.h:431
void lockAt(State &state, Real value, Motion::Level level=Motion::Position) const
Lock this mobilizer's q, u, or udot to the given scalar value, depending on level.
UIndex getFirstUIndex(const State &state) const
Return the global UIndex of the first u for this mobilizer; all the u's range from getFirstUIndex() t...
Motion::Level getLockLevel(const State &state) const
Returns the lock level if the mobilizer is locked in the given state, otherwise Motion::NoLevel.
void convertQForceToUForce(const State &state, const Array_< Real, MobilizerQIndex > &fq, Array_< Real, MobilizerUIndex > &fu) const
Given a generalized force in the q-space of this mobilizer, convert it to the equivalent generalized ...
void adoptMotion(Motion &ownerHandle)
Provide a unique Motion object for this MobilizedBody.
const Transform & getDefaultInboardFrame() const
Return a reference to this mobilizer's default for the frame F fixed on the parent (inboard) body P,...
Real getOneU(const State &state, int which) const
Return one of the generalized speeds u from this mobilizer's partition of the matter subsystem's full...
Real getOneUDot(const State &state, int which) const
Return one of the generalized accelerations udot from this mobilizer's partition of the matter subsys...
const MobilizedBody & getParentMobilizedBody() const
Return a reference to the MobilizedBody serving as the parent body of the current MobilizedBody.
void applyOneMobilityForce(const State &state, int which, Real f, Vector &mobilityForces) const
This utility adds in the supplied generalized force f (a scalar) to the appropriate slot of the suppl...
Definition: MobilizedBody.h:1707
void setQToFitRotation(State &state, const Rotation &R_FM) const
Adjust this mobilizer's q's to best approximate the supplied Rotation matrix which requests a particu...
DecorativeGeometry & updOutboardDecoration(int i)
Return a writable reference to the i'th outboard decoration.
Inertia calcBodyInertiaAboutAnotherBodyStation(const State &state, const MobilizedBody &inBodyA, const Vec3 &aboutLocationOnBodyA) const
Return the inertia of this body B, taken about an arbitrary point PA of body A, and expressed in body...
Definition: MobilizedBody.h:1238
const MassProperties & getDefaultMassProperties() const
Return the mass properties of the Body stored within this MobilizedBody.
Definition: MobilizedBody.h:1556
void setOneU(State &state, int which, Real v) const
Set one of the generalized speeds u to value v, in this mobilizer's partition of the matter subsystem...
Vec3 findStationAccelerationInGround(const State &state, const Vec3 &stationOnB) const
Given a station fixed on body B, return its inertial (Cartesian) acceleration, that is,...
Definition: MobilizedBody.h:978
Vector getUDotAsVector(const State &state) const
Return as a Vector of length getNumU() all the generalized accelerations udot currently in use by thi...
Vec3 findBodyOriginLocationInAnotherBody(const State &state, const MobilizedBody &toBodyA) const
Return the station on another body A (that is, a point measured and expressed in A) that is currently...
Definition: MobilizedBody.h:747
Real getBodyMass(const State &state) const
Return the mass of this body.
Definition: MobilizedBody.h:417
const Body & getBody() const
Return a const reference to the Body contained within this MobilizedBody.
Vec3 expressGroundVectorInBodyFrame(const State &state, const Vec3 &vectorInG) const
Re-express a vector expressed in Ground into the same vector expressed in this body B,...
Definition: MobilizedBody.h:1148
Body & updBody()
Return a writable reference to the Body contained within this MobilizedBody.
bool isLockedByDefault() const
Check whether this mobilizer is to be locked in the default state.
Definition: MobilizedBody.h:286
Motion::Level getLockByDefaultLevel() const
Returns the level at which the mobilizer is locked by default, if it is locked by default,...
Real getOneTau(const State &state, MobilizerUIndex which) const
Return one of the tau forces resulting from prescribed (known) acceleration, corresponding to one of ...
void setUFromVector(State &state, const Vector &v) const
Set all of the generalized speeds u to value v (a Vector of length getNumU()), in this mobilizer's pa...
Vector getTauAsVector(const State &state) const
Return the generalized forces tau resulting from prescribed (known) acceleration, corresponding to ea...
Vec3 expressVectorInGroundFrame(const State &state, const Vec3 &vectorInB) const
Re-express a vector expressed in this body B's frame into the same vector in G, by applying only a ro...
Definition: MobilizedBody.h:1139
bool isSameMobilizedBody(const MobilizedBody &mobod) const
Determine whether a given MobilizedBody mobod is the same MobilizedBody as this one.
Vec3 findStationLocationInGround(const State &state, const Vec3 &stationOnB) const
Return the Cartesian (ground) location that is currently coincident with a station (point) S fixed on...
Definition: MobilizedBody.h:916
Transform findBodyTransformInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return X_AB, the spatial transform giving this body B's frame in body A's frame.
Definition: MobilizedBody.h:717
MobilizedBody Mobod
Mobod is the approved abbreviation for MobilizedBody. Feel free to use it if you get tired of typing ...
Definition: MobilizedBody.h:63
Vec3 findStationAtAnotherBodyOrigin(const State &state, const MobilizedBody &fromBodyA) const
Return the station S of this body that is currently coincident in space with the origin Ao of another...
Definition: MobilizedBody.h:1091
Ball Spherical
Synonym for Ball mobilizer.
Definition: MobilizedBody.h:1849
int getNumInboardDecorations() const
Return the count of decorations added with addInboardDecoration().
SpatialVec findFrameVelocityInGround(const State &state, const Transform &frameOnB) const
Return the current Ground-frame spatial velocity V_GF (that is, angular and linear velocity) of a fra...
Definition: MobilizedBody.h:1119
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 setQFromVector(State &state, const Vector &v) const
Set all of the generalized coordinates q to value v (a Vector of length getNumQ()),...
Real calcStationToStationDistance(const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
Calculate the distance from a station PB on body B to a station PA on body A.
Definition: MobilizedBody.h:1291
Real calcStationToStationDistance2ndTimeDerivative(const State &state, const Vec3 &locationOnBodyB, const MobilizedBody &bodyA, const Vec3 &locationOnBodyA) const
Calculate the second time derivative of distance from a fixed point PB on body B to a fixed point PA ...
Definition: MobilizedBody.h:1340
MobilizedBodyIndex getMobilizedBodyIndex() const
Return the MobilizedBodyIndex of this MobilizedBody within the owning SimbodyMatterSubsystem.
bool hasMotion() const
Check whether this MobilizedBody has an associated Motion object.
Vec3 findMassCenterLocationInGround(const State &state) const
Return the Cartesian (ground) location of this body B's mass center.
Definition: MobilizedBody.h:1052
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
int getNumOutboardDecorations() const
Return the count of decorations added with addOutboardDecoration().
Vec3 findBodyAngularVelocityInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the angular velocity w_AB of body B's frame in body A's frame, expressed in body A.
Definition: MobilizedBody.h:786
Vec3 expressVectorInAnotherBodyFrame(const State &state, const Vec3 &vectorInB, const MobilizedBody &inBodyA) const
Re-express a vector expressed in this body B into the same vector expressed in body A,...
Definition: MobilizedBody.h:1158
Real getOneFromQPartition(const State &state, int which, const Vector &qlike) const
This utility selects one of the q's (generalized coordinates) associated with this mobilizer from a s...
const SimbodyMatterSubsystem & getMatterSubsystem() const
Obtain a reference to the SimbodyMatterSubsystem which contains this MobilizedBody.
const Motion & getMotion() const
If there is a Motion object associated with this MobilizedBody, this returns a const reference to it.
Real getOneFromUPartition(const State &state, int which, const Vector &ulike) const
This utility selects one of the u's (generalized speeds) associated with this mobilizer from a suppli...
SpatialVec findFrameAccelerationInGround(const State &state, const Transform &frameOnB) const
Return the current Ground-frame spatial acceleration A_GF (that is, angular and linear acceleration) ...
Definition: MobilizedBody.h:1130
Real getOneQ(const State &state, int which) const
Return one of the generalized coordinates q from this mobilizer's partition of the matter subsystem's...
void lockAt(State &state, const Vec< N > &value, Motion::Level level=Motion::Position) const
Lock this mobilizer's q, u, or udot to the given Vec<N> value, depending on the level.
void setUToFitLinearVelocity(State &state, const Vec3 &v_FM) const
Adjust any of this mobilizer's u's (generalized speeds) to best approximate the supplied linear veloc...
Vector getQDotAsVector(const State &state) const
Return as a Vector of length getNumQ() all the generalized coordinate derivatives qdot currently in u...
Vec3 findMassCenterLocationInAnotherBody(const State &state, const MobilizedBody &toBodyA) const
Return the point of another body A that is currently coincident in space with the mass center CB of t...
Definition: MobilizedBody.h:1060
MobilizedBody(MobilizedBodyImpl *r)
Internal use only.
Real & updOneFromQPartition(const State &state, int which, Vector &qlike) const
This utility returns a writable reference to one of the q's (generalized coordinates) associated with...
MobilizedBody & lockByDefault(Motion::Level level=Motion::Position)
Change whether this mobilizer is initially locked.
void clearMotion()
If there is a Motion object associated with this MobilizedBody it is removed; otherwise,...
void unlock(State &state) const
Unlock this mobilizer, returning it to its normal behavior which may be free motion or may be control...
Vec3 findStationAtAnotherBodyMassCenter(const State &state, const MobilizedBody &fromBodyA) const
Return the station S of this body that is currently coincident in space with the mass center Ac of an...
Definition: MobilizedBody.h:1100
const MassProperties & getBodyMassProperties(const State &state) const
Return a reference to this body's mass properties in the State cache.
void setOneQ(State &state, int which, Real v) const
Set one of the generalized coordinates q to value v, in this mobilizer's partition of the matter subs...
SpatialVec findBodyVelocityInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the angular and linear velocity of body B's frame in body A's frame, expressed in body A,...
Definition: MobilizedBody.h:758
SpatialVec findMobilizerReactionOnParentAtFInGround(const State &state) const
Return the spatial reaction force (moment and force) applied by the mobilizer to the parent (inboard)...
Pin Revolute
Synonym for Pin mobilizer.
Definition: MobilizedBody.h:1824
MobilizedBody & setDefaultMassProperties(const MassProperties &m)
If the contained Body can have its mass properties set to the supplied value m its mass properties ar...
Definition: MobilizedBody.h:1550
Vec3 findBodyAngularAccelerationInAnotherBody(const State &state, const MobilizedBody &inBodyA) const
Return the angular acceleration of body B's frame in body A's frame, expressed in body A.
Definition: MobilizedBody.h:836
Vector getQDotDotAsVector(const State &state) const
Return as a Vector of length getNumQ() all the generalized coordinate second derivatives qdotdot curr...
MobilizedBody & setBody(const Body &)
Replace the Body contained within this MobilizedBody with a new one.
Transform findFrameTransformInGround(const State &state, const Transform &frameOnB) const
Return the current Ground-frame pose (position and orientation) of a frame F that is fixed to body B.
Definition: MobilizedBody.h:1109
const Transform & getMobilizerTransform(const State &state) const
At stage Position or higher, return the cross-mobilizer transform X_FM, the body's inboard mobilizer ...
Vector getUAsVector(const State &state) const
Return as a Vector of length getNumU() all the generalized speeds u currently in use by this mobilize...
Vec3 findStationVelocityInGround(const State &state, const Vec3 &stationOnB) const
Given a station fixed on body B, return its inertial (Cartesian) velocity, that is,...
Definition: MobilizedBody.h:944
void setQToFitTranslation(State &state, const Vec3 &p_FM) const
Adjust this mobilizer's q's to best approximate the supplied position vector which requests a particu...
bool isGround() const
Determine whether this MobilizedBody is Ground, meaning that it is actually body 0 of some matter sub...
SpatialVec calcBodyMomentumAboutBodyOriginInGround(const State &state)
Calculate body B's momentum (angular, linear) measured and expressed in Ground, but taken about the b...
Definition: MobilizedBody.h:1263
QIndex getFirstQIndex(const State &state) const
Return the global QIndex of the first q for this mobilizer; all the q's range from getFirstQIndex() t...
void setUToFitVelocity(State &state, const SpatialVec &V_FM) const
Adjust this mobilizer's u's (generalized speeds) to best approximate the supplied spatial velocity V_...
void setOutboardFrame(State &state, const Transform &X_BM) const
TODO: not implemented yet.
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
A Motion object belongs to a particular MobilizedBody and prescribes how the associated motion is to ...
Definition: Motion.h:107
Method
There are several ways to specify the motion at this Level, and the selected method also determines l...
Definition: Motion.h:126
Level
What is the highest level of motion that is driven? Lower levels are also driven; higher levels are d...
Definition: Motion.h:112
@ NoLevel
invalid level
Definition: Motion.h:113
@ Position
we know q, u, and udot
Definition: Motion.h:116
Unique integer type for Subsystem-local q indexing.
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
A spatial inertia contains the mass, center of mass point, and inertia matrix for a rigid body.
Definition: MassProperties.h:993
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Unique integer type for Subsystem-local u indexing.
A UnitInertia matrix is a unit-mass inertia matrix; you can convert it to an Inertia by multiplying i...
Definition: MassProperties.h:669
CNT< ScalarNormSq >::TSqrt norm() const
Definition: Vec.h:610
static Vec< M, ELT, 1 > getNaN()
Return a Vec of the same length and element type as this one but with all elements set to NaN.
Definition: Vec.h:915
Mat< 3, 3 > Mat33
This is the most common 3x3 matrix type: three packed columns of 3 Real values each.
Definition: SmallMatrix.h:142
Vec< 2, Vec3 > SpatialVec
Spatial vectors are used for (rotation,translation) quantities and consist of a pair of Vec3 objects,...
Definition: MassProperties.h:50
Mat< 2, 2, Mat33 > SpatialMat
Spatial matrices are used to hold 6x6 matrices that are best viewed as 2x2 matrices of 3x3 matrices; ...
Definition: MassProperties.h:72
SpatialVec findRelativeAcceleration(const Transform &X_FA, const SpatialVec &V_FA, const SpatialVec &A_FA, const Transform &X_FB, const SpatialVec &V_FB, const SpatialVec &A_FB)
Find the relative spatial acceleration between two frames A and B whose individual spatial accelerati...
Definition: SpatialAlgebra.h:245
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
const Real NaN
This is the IEEE "not a number" constant for this implementation of the default-precision Real type; ...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
CNT< typenameCNT< E1 >::THerm >::template Result< E2 >::Mul dot(const Vec< M, E1, S1 > &r, const Vec< M, E2, S2 > &v)
Definition: SmallMatrixMixed.h:86
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