Simbody 3.7
MobilizedBody_Slider.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_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
32namespace SimTK {
33
47public:
50 Slider() {}
51
57 Slider(MobilizedBody& parent, const Transform& X_PF,
58 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
59
62 Slider(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
63
64
65 // SPECIALIZED INTERFACE FOR SLIDER MOBILIZER
66
67 // "Length" is just a nicer name for a sliding joint's lone generalized coordinate q.
68 Slider& setDefaultLength(Real length) {return setDefaultQ(length);}
69 Real getDefaultLength() const {return getDefaultQ();}
70
71 // Friendly, mobilizer-specific access to generalized coordinates and speeds.
72
73 void setLength(State& s, Real length) {setQ(s, length);}
74 Real getLength(const State& s) const {return getQ(s);}
75
76 void setRate(State& s, Real rateInLengthPerTime) {setU(s, rateInLengthPerTime);}
77 Real getRate(const State& s) const {return getU(s);}
78
79 // Mobility forces are "u-like", that is, one per dof.
80 Real getAppliedForce(const State& s, const Vector& mobilityForces) const {
81 return getMyPartU(s,mobilityForces);
82 }
83 void applyForce(const State& s, Real force, Vector& mobilityForces) const {
84 updMyPartU(s,mobilityForces) += force;
85 }
86
87 // STANDARDIZED MOBILIZED BODY INTERFACE
88
89
90 // access to generalized coordinates q and generalized speeds u
93
94 Real getQ(const State&) const;
95 Real getQDot(const State&) const;
96 Real getQDotDot(const State&) const;
97 Real getU(const State&) const;
98 Real getUDot(const State&) const;
99
100 void setQ(State&, Real) const;
101 void setU(State&, Real) const;
102
103 Real getMyPartQ(const State&, const Vector& qlike) const;
104 Real getMyPartU(const State&, const Vector& ulike) const;
105
106 Real& updMyPartQ(const State&, Vector& qlike) const;
107 Real& updMyPartU(const State&, Vector& ulike) const;
108
109 // specialize return type for convenience
111 { (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }
113 { (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }
115 { (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }
117 { (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }
119 { (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }
120 // Don't let doxygen see this
124};
125
126
127} // namespace SimTK
128
129#endif // SimTK_SIMBODY_MOBILIZED_BODY_SLIDER_H_
130
131
132
This defines the MobilizedBody class, which associates a new body (the "child", "outboard",...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
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
One mobility – translation along the common x axis of the F (inboard) and M (outboard) mobilizer fram...
Definition: MobilizedBody_Slider.h:46
Slider(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
void setRate(State &s, Real rateInLengthPerTime)
Definition: MobilizedBody_Slider.h:76
Slider & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Slider.h:116
Real getU(const State &) const
Real getMyPartU(const State &, const Vector &ulike) const
Real getQ(const State &) const
void setU(State &, Real) const
Real getAppliedForce(const State &s, const Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:80
Slider & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:112
void setLength(State &s, Real length)
Definition: MobilizedBody_Slider.h:73
Slider & setDefaultLength(Real length)
Definition: MobilizedBody_Slider.h:68
Real getRate(const State &s) const
Definition: MobilizedBody_Slider.h:77
Slider()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sli...
Definition: MobilizedBody_Slider.h:50
Slider(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Slider mobilizer between an existing parent (inboard) body P and a new child (outboard) body...
Real getDefaultLength() const
Definition: MobilizedBody_Slider.h:69
Slider & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:110
void applyForce(const State &s, Real force, Vector &mobilityForces) const
Definition: MobilizedBody_Slider.h:83
Real & updMyPartU(const State &, Vector &ulike) const
Real & updMyPartQ(const State &, Vector &qlike) const
Real getMyPartQ(const State &, const Vector &qlike) const
void setQ(State &, Real) const
Slider & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Slider.h:114
Slider & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Slider.h:118
Real getLength(const State &s) const
Definition: MobilizedBody_Slider.h:74
Real getUDot(const State &) const
Real getQDotDot(const State &) const
Real getQDot(const State &) const
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
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
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
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...
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
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
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