Simbody 3.7
MobilizedBody_Ball.h
Go to the documentation of this file.
1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_BALL_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
34
45public:
48 Ball() {}
49
55 Ball(MobilizedBody& parent, const Transform& X_PF,
56 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
57
60 Ball(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
61
63 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
64 }
66 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
67 }
69 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
70 }
71
73 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
74 }
75
77 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
78 }
79
80 // This is just a nicer name for the generalized coordinate.
82 return setDefaultQ(R_FM.convertRotationToQuaternion());
83 }
84 Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}
85
86 // This is used only for visualization.
89
90 // Generic default state Topology methods.
91 const Quaternion& getDefaultQ() const;
93
94 const Vec4& getQ(const State&) const;
95 const Vec4& getQDot(const State&) const;
96 const Vec4& getQDotDot(const State&) const;
97 const Vec3& getU(const State&) const;
98 const Vec3& getUDot(const State&) const;
99
100 void setQ(State&, const Vec4&) const;
101 void setU(State&, const Vec3&) const;
102
103 const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
104 const Vec3& getMyPartU(const State&, const Vector& ulike) const;
105
106 Vec4& updMyPartQ(const State&, Vector& qlike) const;
107 Vec3& updMyPartU(const State&, Vector& ulike) const;
108 // hide from Doxygen
112};
113
114
115} // namespace SimTK
116
117#endif // SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
118
119
120
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
Three mobilities – unrestricted orientation modeled with a quaternion which is never singular.
Definition: MobilizedBody_Ball.h:44
void setU(State &, const Vec3 &) const
void setQ(State &, const Vec4 &) const
const Quaternion & getDefaultQ() const
const Vec3 & getU(const State &) const
const Vec4 & getQ(const State &) const
Ball & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ball.h:76
Ball & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:62
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
const Vec3 & getUDot(const State &) const
Ball(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Ball mobilizer between an existing parent (inboard) body P and a new child (outboard) body B...
Ball & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ball.h:72
Ball & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:68
Ball & setDefaultQ(const Quaternion &q)
const Vec4 & getMyPartQ(const State &, const Vector &qlike) const
Vec4 & updMyPartQ(const State &, Vector &qlike) const
Ball(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Rotation getDefaultRotation() const
Definition: MobilizedBody_Ball.h:84
Ball & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:65
Ball & setDefaultRadius(Real r)
Vec3 & updMyPartU(const State &, Vector &ulike) const
Ball()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Bal...
Definition: MobilizedBody_Ball.h:48
const Vec4 & getQDot(const State &) const
const Vec4 & getQDotDot(const State &) const
Ball & setDefaultRotation(const Rotation &R_FM)
Definition: MobilizedBody_Ball.h:81
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.
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:65
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is a fixed-length column vector designed for no-overhead inline computation.
Definition: Vec.h:184
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Rotation_< Real > Rotation
Definition: Rotation.h:49
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