Simbody 3.7
MobilizedBody_Free.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_FREE_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
53public:
56 Free() {}
57
63 Free(MobilizedBody& parent, const Transform& X_PF,
64 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
65
68 Free(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
69
71 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
72 }
74 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
75 }
77 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
78 }
79
81 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
82 }
83
85 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
86 }
87
88 // Leaves rotation unchanged.
90
91 // Leaves translation unchanged. The internal representation is a quaternion
92 // so we guarantee that the stored value is numerically identical to the
93 // supplied one.
95
96 // Leaves translation unchanged. The Rotation matrix will be converted to
97 // a quaternion for storage.
99 // Sets both translation and rotation. The Rotation part of the Transform
100 // will be converted to a quaternion for storage.
102
103 // These return references to the stored default values.
106
107 // These next two are derived from the stored values.
109 return Rotation(getDefaultQuaternion());
110 }
112 return Transform(Rotation(getDefaultQuaternion()), getDefaultTranslation());
113 }
114
115 // Generic default state Topology methods.
116
117 // Returns (Vec4,Vec3) where the Vec4 is a normalized quaternion.
118 const Vec7& getDefaultQ() const;
119
120 // Interprets the supplied q as (Vec4,Vec3) where the Vec4 is a possibly
121 // unnormalized quaternion. The quaternion will be normalized before it is
122 // stored here, so you may not get back exactly the value supplied here if
123 // you call getDefaultQ().
125
126 // Note that there is no guarantee that the quaternion part of the returned Q is normalized.
127 const Vec7& getQ(const State&) const;
128 const Vec7& getQDot(const State&) const;
129 const Vec7& getQDotDot(const State&) const;
130
131 const Vec6& getU(const State&) const;
132 const Vec6& getUDot(const State&) const;
133
134 // The Q's in the state are set exactly as supplied without normalization.
135 void setQ(State&, const Vec7&) const;
136 void setU(State&, const Vec6&) const;
137
138 const Vec7& getMyPartQ(const State&, const Vector& qlike) const;
139 const Vec6& getMyPartU(const State&, const Vector& ulike) const;
140
141 Vec7& updMyPartQ(const State&, Vector& qlike) const;
142 Vec6& updMyPartU(const State&, Vector& ulike) const;
143 // hide from Doxygen
147};
148
149} // namespace SimTK
150
151#endif // SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
152
153
154
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
Unrestricted motion for a rigid body (six mobilities).
Definition: MobilizedBody_Free.h:52
Free & setDefaultQ(const Vec7 &q)
Rotation getDefaultRotation() const
Definition: MobilizedBody_Free.h:108
Free & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:73
Free & setDefaultTransform(const Transform &)
Free & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:70
Free()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Fre...
Definition: MobilizedBody_Free.h:56
Free & setDefaultTranslation(const Vec3 &)
const Vec6 & getU(const State &) const
const Vec7 & getDefaultQ() const
void setU(State &, const Vec6 &) const
Vec6 & updMyPartU(const State &, Vector &ulike) const
Free & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:76
const Vec7 & getQ(const State &) const
Free & setDefaultRotation(const Rotation &)
const Vec3 & getDefaultTranslation() const
const Vec7 & getQDot(const State &) const
Free & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Free.h:80
void setQ(State &, const Vec7 &) const
const Quaternion & getDefaultQuaternion() const
const Vec7 & getMyPartQ(const State &, const Vector &qlike) const
Free(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Free(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Free mobilizer between an existing parent (inboard) body P and a new child (outboard) body B...
Free & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Free.h:84
Vec7 & updMyPartQ(const State &, Vector &qlike) const
const Vec6 & getUDot(const State &) const
const Vec7 & getQDotDot(const State &) const
Free & setDefaultQuaternion(const Quaternion &)
const Vec6 & getMyPartU(const State &, const Vector &ulike) const
Transform getDefaultTransform() const
Definition: MobilizedBody_Free.h:111
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
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
Rotation_< Real > Rotation
Definition: Rotation.h:49
Transform_< Real > Transform
Definition: Transform.h:46