Simbody 3.7
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Constraint_PointInPlane.h
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1#ifndef SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
2#define SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_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) 2007-14 Stanford University and the Authors. *
13 * Authors: Michael Sherman *
14 * Contributors: *
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//==============================================================================
35// CONSTRAINT:: POINT IN PLANE
36//==============================================================================
37
48public:
49// no default constructor
51 const UnitVec3& defaultPlaneNormal_B, Real defaultHeight,
52 MobilizedBody& followerBody_F, const Vec3& defaultFollowerPoint_F);
53
56
57// These affect only generated decorative geometry for visualization;
58// the plane is really infinite in extent with zero depth and the
59// point is really of zero radius.
64
65// Defaults for Instance variables.
69
70// Stage::Topology
73
77
78// Stage::Instance
79const UnitVec3& getPlaneNormal(const State&) const;
81const Vec3& getFollowerPoint(const State&) const;
82
83// Stage::Position, Velocity
86
87// Stage::Acceleration
89Real getMultiplier(const State&) const;
90Real getForceOnFollowerPoint(const State&) const; // in normal direction
91
// hide from Doxygen
94 (PointInPlane, PointInPlaneImpl, Constraint);
96};
97
98
99} // namespace SimTK
100
101#endif // SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
102
103
104
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#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
One constraint equation.
Definition Constraint_PointInPlane.h:47
PointInPlane & setDefaultPlaneNormal(const UnitVec3 &)
const Vec3 & getFollowerPoint(const State &) const
MobilizedBodyIndex getPlaneMobilizedBodyIndex() const
const UnitVec3 & getPlaneNormal(const State &) const
PointInPlane & setDefaultPlaneHeight(Real)
PointInPlane & setPointDisplayRadius(Real)
MobilizedBodyIndex getFollowerMobilizedBodyIndex() const
const UnitVec3 & getDefaultPlaneNormal() const
Real getForceOnFollowerPoint(const State &) const
PointInPlane(MobilizedBody &planeBody_B, const UnitVec3 &defaultPlaneNormal_B, Real defaultHeight, MobilizedBody &followerBody_F, const Vec3 &defaultFollowerPoint_F)
Real getVelocityError(const State &) const
PointInPlane()
Default constructor creates an empty handle.
Definition Constraint_PointInPlane.h:55
PointInPlane & setPlaneDisplayHalfWidth(Real)
Real getPositionError(const State &) const
Real getMultiplier(const State &) const
Real getAccelerationError(const State &) const
PointInPlane & setDefaultFollowerPoint(const Vec3 &)
const Vec3 & getDefaultFollowerPoint() const
Real getPlaneHeight(const State &) const
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition Constraint.h:67
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
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