1#ifndef SimTK_SIMMATH_MULTIBODY_GRAPH_MAKER_H_
2#define SimTK_SIMMATH_MULTIBODY_GRAPH_MAKER_H_
172 bool haveGoodLoopJointAvailable =
false,
244 const std::string& type,
245 const std::string& parentBodyName,
246 const std::string& childBodyName,
247 bool mustBeLoopJoint,
279 {
return mobilizers[mobilizerNum]; }
292 {
return constraints[loopConstraintNum]; }
305 std::map<std::string,int>::const_iterator p =
306 bodyName2Num.find(bodyName);
307 return p==bodyName2Num.end() ? -1 : p->second;
322 std::map<std::string,int>::const_iterator p =
323 jointName2Num.find(jointName);
324 return p==jointName2Num.end() ? -1 : p->second;
331 {
return jointTypes[jointTypeNum]; }
334 std::map<std::string,int>::const_iterator p =
335 jointTypeName2Num.find(jointTypeName);
336 return p==jointTypeName2Num.end() ? -1 : p->second;
343 { weldTypeName=name; initialize(); }
352 { freeTypeName=name; initialize(); }
362 Body& updBody(
int bodyNum) {
return bodies[bodyNum];}
363 Joint& updJoint(
int jointNum) {
return joints[jointNum];}
364 Joint& updJoint(
const std::string& name) {
return joints[jointName2Num[name]];}
367 int splitBody(
int bodyNum);
368 int chooseNewBaseBody()
const;
369 void connectBodyToGround(
int bodyNum);
370 int addMobilizerForJoint(
int jointNum);
371 int findHeaviestUnassignedForwardJoint(
int inboardBody)
const;
372 int findHeaviestUnassignedReverseJoint(
int inboardBody)
const;
375 bool bodiesAreConnected(
int b1,
int b2)
const;
379 bodies.clear(); joints.clear(); jointTypes.clear();
380 bodyName2Num.clear(); jointName2Num.clear(); jointTypeName2Num.clear();
381 mobilizers.clear(); constraints.clear();
384 std::string weldTypeName, freeTypeName;
385 std::vector<Body> bodies;
386 std::vector<Joint> joints;
387 std::vector<JointType> jointTypes;
388 std::map<std::string,int> bodyName2Num;
389 std::map<std::string,int> jointName2Num;
390 std::map<std::string,int> jointTypeName2Num;
393 std::vector<Mobilizer> mobilizers;
394 std::vector<LoopConstraint> constraints;
508 : joint(-1), level(-1), inboardBody(-1), outboardBody(-1),
509 isReversed(false), mgm(0) {}
510 Mobilizer(
int jointNum,
int level,
int inboardBodyNum,
int outboardBodyNum,
512 : joint(jointNum), level(level), inboardBody(inboardBodyNum),
513 outboardBody(outboardBodyNum), isReversed(isReversed),
577 int getOutboardMasterBodyNum()
const
600 int parentBodyNum,
int childBodyNum,
602 : type(type), joint(jointNum),
603 parentBody(parentBodyNum), childBody(childBodyNum),
Includes internal headers providing declarations for the basic SimTK Core classes,...
This is the header file that every Simmath compilation unit should include first.
#define SimTK_SIMMATH_EXPORT
Definition SimTKmath/include/simmath/internal/common.h:64
Local class that collects information about bodies.
Definition MultibodyGraphMaker.h:401
Body(const std::string &name, double mass, bool mustBeBaseBody, void *userRef)
Definition MultibodyGraphMaker.h:403
int master
Definition MultibodyGraphMaker.h:434
void forgetGraph(MultibodyGraphMaker &graph)
int level
Definition MultibodyGraphMaker.h:431
std::vector< int > jointsAsChild
Definition MultibodyGraphMaker.h:426
bool isMaster() const
Definition MultibodyGraphMaker.h:416
int getNumJoints() const
Definition MultibodyGraphMaker.h:413
int getNumFragments() const
Definition MultibodyGraphMaker.h:411
int mobilizer
Definition MultibodyGraphMaker.h:432
std::vector< int > jointsAsParent
Definition MultibodyGraphMaker.h:427
double mass
Definition MultibodyGraphMaker.h:421
int getNumSlaves() const
Definition MultibodyGraphMaker.h:412
std::string name
Definition MultibodyGraphMaker.h:420
std::vector< int > slaves
Definition MultibodyGraphMaker.h:435
void * userRef
Definition MultibodyGraphMaker.h:423
bool isInTree() const
Definition MultibodyGraphMaker.h:417
bool mustBeBaseBody
Definition MultibodyGraphMaker.h:422
bool isSlave() const
Definition MultibodyGraphMaker.h:415
Local class that defines the properties of a known joint type.
Definition MultibodyGraphMaker.h:486
JointType(const std::string &name, int numMobilities, bool haveGoodLoopJointAvailable, void *userRef)
Definition MultibodyGraphMaker.h:488
bool haveGoodLoopJointAvailable
Definition MultibodyGraphMaker.h:495
std::string name
Definition MultibodyGraphMaker.h:493
int numMobilities
Definition MultibodyGraphMaker.h:494
void * userRef
Definition MultibodyGraphMaker.h:496
Local class that collects information about joints.
Definition MultibodyGraphMaker.h:442
std::string name
Definition MultibodyGraphMaker.h:467
bool isAddedBaseJoint
Definition MultibodyGraphMaker.h:475
int mobilizer
Definition MultibodyGraphMaker.h:478
bool hasMobilizer() const
Definition MultibodyGraphMaker.h:463
Joint(const std::string &name, int jointTypeNum, int parentBodyNum, int childBodyNum, bool mustBeLoopJoint, void *userRef)
Definition MultibodyGraphMaker.h:444
bool mustBeLoopJoint
Definition MultibodyGraphMaker.h:468
int parentBodyNum
Definition MultibodyGraphMaker.h:472
void * userRef
Definition MultibodyGraphMaker.h:469
int jointTypeNum
Definition MultibodyGraphMaker.h:473
bool hasLoopConstraint() const
Definition MultibodyGraphMaker.h:464
bool forgetGraph(MultibodyGraphMaker &graph)
Return true if the joint is deleted as a result of restoring it to the state prior to generateGraph()...
int childBodyNum
Definition MultibodyGraphMaker.h:472
int loopConstraint
Definition MultibodyGraphMaker.h:479
Local class that represents one of the constraints that were added to close topological loops that we...
Definition MultibodyGraphMaker.h:596
void * getChildBodyRef() const
Get the user reference pointer for the child body defined by the joint associated with this loop cons...
Definition MultibodyGraphMaker.h:620
LoopConstraint(const std::string &type, int jointNum, int parentBodyNum, int childBodyNum, MultibodyGraphMaker *graphMaker)
Definition MultibodyGraphMaker.h:599
const std::string & getJointTypeName() const
Get the loop constraint type name of the constraint that should be used here.
Definition MultibodyGraphMaker.h:612
void * getJointRef() const
Get the user reference pointer for the joint associated with this loop constraint.
Definition MultibodyGraphMaker.h:608
void * getParentBodyRef() const
Get the user reference pointer for the parent body defined by the joint associated with this loop con...
Definition MultibodyGraphMaker.h:616
LoopConstraint()
Definition MultibodyGraphMaker.h:598
Local class that represents one of the mobilizers (tree joints) in the generated spanning tree.
Definition MultibodyGraphMaker.h:505
bool isAddedBaseMobilizer() const
Return true if this mobilizer does not represent one of the input joints, but is instead a joint we a...
Definition MultibodyGraphMaker.h:522
bool isReversedFromJoint() const
Return true if this mobilizer represents one of the input joints but the sense of inboard->outboard i...
Definition MultibodyGraphMaker.h:570
int getNumFragments() const
Return the number of fragments into which we chopped the outboard body of this mobilizer.
Definition MultibodyGraphMaker.h:564
bool isSlaveMobilizer() const
Return true if the outboard body of this mobilizer is a slave we created in order to cut a loop,...
Definition MultibodyGraphMaker.h:557
void * getJointRef() const
Get the user reference pointer for the joint associated with this mobilizer, if there is such a joint...
Definition MultibodyGraphMaker.h:527
void * getOutboardMasterBodyRef() const
Get the user reference pointer for the outboard body of this mobilizer, if it is one of the input bod...
Definition MultibodyGraphMaker.h:546
void * getOutboardBodyRef() const
Get the user reference pointer for the outboard body of this mobilizer.
Definition MultibodyGraphMaker.h:540
const std::string & getJointTypeName() const
Get the joint type name of the joint that this mobilizer represents.
Definition MultibodyGraphMaker.h:549
void * getInboardBodyRef() const
Get the user reference pointer for the inboard body of this mobilizer.
Definition MultibodyGraphMaker.h:533
Mobilizer(int jointNum, int level, int inboardBodyNum, int outboardBodyNum, bool isReversed, MultibodyGraphMaker *graphMaker)
Definition MultibodyGraphMaker.h:510
Mobilizer()
Definition MultibodyGraphMaker.h:507
int getLevel() const
Return the level of the outboard body (Ground is level 0)
Definition MultibodyGraphMaker.h:572
void * getJointTypeRef() const
Get the reference pointer (if any) that was provided when this mobilizer's joint type was defined in ...
Definition MultibodyGraphMaker.h:553
Construct a reasonably good spanning-tree-plus-constraints structure for modeling a given set of bodi...
Definition MultibodyGraphMaker.h:152
const Body & getBody(int bodyNum) const
Get a Body object by its assigned number.
Definition MultibodyGraphMaker.h:300
int getNumLoopConstraints() const
Return the number of loop joint constraints that were used to close loops in the graph topology.
Definition MultibodyGraphMaker.h:288
const JointType & getJointType(int jointTypeNum) const
Get a JointType object by its assigned number.
Definition MultibodyGraphMaker.h:330
int addJointType(const std::string &name, int numMobilities, bool haveGoodLoopJointAvailable=false, void *userRef=0)
Specify relevant properties of a joint type.
void dumpGraph(std::ostream &out) const
Output a text representation of the multibody graph for debugging.
void setWeldJointTypeName(const std::string &name)
Change the name to be used to identify the weld joint type (0 dof) and weld loop constraint type (6 c...
Definition MultibodyGraphMaker.h:342
void setFreeJointTypeName(const std::string &name)
Change the name to be used to identify the free (6 dof) joint type and free (0 constraints) loop cons...
Definition MultibodyGraphMaker.h:351
int getNumJoints() const
Return the number of joints, including all input joints, and all joints added to connect otherwise di...
Definition MultibodyGraphMaker.h:314
void clearGraph()
Throw away the multibody graph produced by generateGraph().
const std::string & getGroundBodyName() const
Return the name we recognize as the Ground (or World) body.
int getJointNum(const std::string &jointName) const
Return the joint number assigned to the input joint with the given name.
Definition MultibodyGraphMaker.h:321
const Mobilizer & getMobilizer(int mobilizerNum) const
Get a Mobilizer object by its mobilizer number, ordered outwards by topological distance from Ground.
Definition MultibodyGraphMaker.h:278
const std::string & getFreeJointTypeName() const
Return the name currently being used to identify the free joint type and free loop constraint type.
Definition MultibodyGraphMaker.h:355
int getNumBodies() const
Return the number of bodies, including all input bodies, a ground body, and any slave bodies.
Definition MultibodyGraphMaker.h:296
int getBodyNum(const std::string &bodyName) const
Return the body number assigned to the input body with the given name.
Definition MultibodyGraphMaker.h:304
int getJointTypeNum(const std::string &jointTypeName) const
Get the assigned number for a joint type from the type name.
Definition MultibodyGraphMaker.h:333
const LoopConstraint & getLoopConstraint(int loopConstraintNum) const
Get a loop constraint by its assigned number.
Definition MultibodyGraphMaker.h:291
MultibodyGraphMaker()
Construct an empty MultibodyGraphMaker object and set the default names for weld and free joints to "...
bool deleteBody(const std::string &name)
Delete a body (link) from the set of input bodies.
void addBody(const std::string &name, double mass, bool mustBeBaseBody, void *userRef=0)
Add a new body (link) to the set of input bodies.
int getNumJointTypes() const
Return the number of registered joint types.
Definition MultibodyGraphMaker.h:328
void addJoint(const std::string &name, const std::string &type, const std::string &parentBodyName, const std::string &childBodyName, bool mustBeLoopJoint, void *userRef=0)
Add a new joint to the set of input joints.
const std::string & getWeldJointTypeName() const
Return the name currently being used to identify the weld joint type and weld loop constraint type.
Definition MultibodyGraphMaker.h:346
bool deleteJoint(const std::string &name)
Delete an existing joint from the set of input joints.
void generateGraph()
Generate a new multibody graph from the input data.
const Joint & getJoint(int jointNum) const
Get a Joint object by its assigned number.
Definition MultibodyGraphMaker.h:317
int getNumMobilizers() const
Returns the number of mobilizers (tree joints) in the spanning tree.
Definition MultibodyGraphMaker.h:275
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37