Simbody 3.7
MobilizedBody_Universal.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_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
41public:
45
52 Universal(MobilizedBody& parent, const Transform& X_PF,
53 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
54
57 Universal(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
58
59
61 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
62 }
64 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
65 }
67 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
68 }
69
71 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
72 }
73
75 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
76 } // Don't let doxygen see this
81};
82
83} // namespace SimTK
84
85#endif // SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
86
87
88
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
Two mobilities – rotation about the x axis, followed by a rotation about the new y axis.
Definition: MobilizedBody_Universal.h:40
Universal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:63
Universal & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Universal.h:70
Universal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Uni...
Definition: MobilizedBody_Universal.h:44
Universal & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Universal.h:74
Universal(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Universal mobilizer between an existing parent (inboard) body P and a new child (outboard) b...
Universal & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:66
Universal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:60
Universal(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
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 is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37