1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_
92 return getMyPartU(s,mobilityForces);
97 updMyPartU(s,mobilityForces) += torque;
124 { (void)MobilizedBody::addBodyDecoration(X_BD,g);
return *
this; }
126 { (void)MobilizedBody::addOutboardDecoration(X_MD,g);
return *
this; }
128 { (void)MobilizedBody::addInboardDecoration(X_FD,g);
return *
this; }
130 { (void)MobilizedBody::setDefaultInboardFrame(X_PF);
return *
this; }
132 { (void)MobilizedBody::setDefaultOutboardFrame(X_BM);
return *
this; }
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
Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer.
Definition MobilizedBody_Pin.h:46
Real getAngle(const State &s) const
Get the value that this pin joint's angular coordinate has in the given state.
Definition MobilizedBody_Pin.h:79
void applyPinTorque(const State &s, Real torque, Vector &mobilityForces) const
Add in a torque to the generalized force element corresponding to this pin mobilizer in the given arr...
Definition MobilizedBody_Pin.h:96
Pin(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Pin mobilizer between an existing parent (inboard) body P and a new child (outboard) body B ...
Real getAppliedPinTorque(const State &s, const Vector &mobilityForces) const
Get the generalized force corresponding to this pin mobilizer in the given array of mobility forces.
Definition MobilizedBody_Pin.h:91
Pin & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition MobilizedBody_Pin.h:127
Pin & setDefaultOutboardFrame(const Transform &X_BM)
Definition MobilizedBody_Pin.h:131
Real & updMyPartQ(const State &, Vector &qlike) const
Real & updMyPartU(const State &, Vector &ulike) const
void setRate(State &s, Real rateInRadPerTime)
Set the rotation rate (generalized speed u) for this pin joint in the given state.
Definition MobilizedBody_Pin.h:83
Pin & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition MobilizedBody_Pin.h:123
Real getDefaultAngle() const
Get the value that the pin angle will have in the default state.
Definition MobilizedBody_Pin.h:70
Pin(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Real getQDot(const State &) const
Pin & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition MobilizedBody_Pin.h:125
Real getRate(const State &s) const
Get the current rotation rate (generalized speed u) that this pin mobilizer has in the given state.
Definition MobilizedBody_Pin.h:86
Real getMyPartU(const State &, const Vector &ulike) const
void setQ(State &, Real) const
Pin()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pin...
Definition MobilizedBody_Pin.h:50
Real getQDotDot(const State &) const
void setU(State &, Real) const
Real getUDot(const State &) const
Pin & setDefaultInboardFrame(const Transform &X_PF)
Definition MobilizedBody_Pin.h:129
Real getQ(const State &) const
Real getMyPartQ(const State &, const Vector &qlike) const
Pin & setDefaultAngle(Real angleInRad)
Set the value that the pin angle should have in the default state.
Definition MobilizedBody_Pin.h:68
void setAngle(State &s, Real angleInRad)
Set the pin joint angle (generalized coordinate q) in the given state.
Definition MobilizedBody_Pin.h:76
Real getU(const State &) const
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition MobilizedBody.h:181
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