Simbody 3.7
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MobilizedBody_Bushing.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_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) 2012-13 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
87public:
91
97 Bushing(MobilizedBody& parent, const Transform& X_PF,
98 const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
99
102 Bushing(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
103
110 { (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }
111
118 { (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }
119
130 { Vec6 q;
131 q.updSubVec<3>(0) = X_FM.R().convertRotationToBodyFixedXYZ();
132 q.updSubVec<3>(3) = X_FM.p();
133 return setDefaultQ(q); }
134
138 const Vec6& q = getDefaultQ();
140 q[0], XAxis, q[1], YAxis, q[2], ZAxis),
141 q.getSubVec<3>(3));
142 }
143
147 { (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }
148
153 { (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }
154
158 { (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }
159
167 const Vec6& getDefaultQ() const;
175
179 const Vec6& getQ(const State& state) const;
187 const Vec6& getQDot(const State& state) const;
194 const Vec6& getQDotDot(const State& state) const;
195
200 const Vec6& getU(const State& state) const;
205 const Vec6& getUDot(const State& state) const;
206
214 void setQ(State& state, const Vec6& q) const;
224 void setU(State& state, const Vec6& u) const;
225
232 const Vec6& getMyPartQ(const State& state, const Vector& qlike) const;
235 const Vec6& getMyPartU(const State& state, const Vector& ulike) const;
236
240 Vec6& updMyPartQ(const State& state, Vector& qlike) const;
244 Vec6& updMyPartU(const State& state, Vector& ulike) const;
// Hide from Doxygen.
250};
251
252
253} // namespace SimTK
254
255#endif // SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
256
257
258
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
Six mobilities – arbitrary relative motion modeled as x-y-z translation followed by an x-y-z body-fix...
Definition MobilizedBody_Bushing.h:86
Bushing & setDefaultInboardFrame(const Transform &X_PF)
Change the default inboard ("fixed") frame F on the parent body of this mobilizer.
Definition MobilizedBody_Bushing.h:109
Vec6 & updMyPartQ(const State &state, Vector &qlike) const
Given a writable vector in the System's generalized coordinate basis, extract a writable reference to...
const Vec6 & getQDotDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate second time derivatives qdotdot ...
const Vec6 & getUDot(const State &state) const
Obtain the current value for this mobilizer's generalized accelerations udot (=d/dt u) from the given...
Bushing & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition MobilizedBody_Bushing.h:146
Bushing & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody,...
Definition MobilizedBody_Bushing.h:152
Bushing(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a Bushing mobilizer between an existing parent (inboard) body P and a new child (outboard) bod...
const Vec6 & getQ(const State &state) const
Obtain the current value for this mobilizer's generalized coordinates q from the given State,...
void setU(State &state, const Vec6 &u) const
Set new values for this mobilizer's generalized speeds u in the given state.
Bushing & setDefaultOutboardFrame(const Transform &X_BM)
Change the default outboard ("moving") frame M on this mobilized body (that is, on this mobilizer's c...
Definition MobilizedBody_Bushing.h:117
void setQ(State &state, const Vec6 &q) const
Set new values for this mobilizer's generalized coordinates q in the given state.
const Vec6 & getDefaultQ() const
Obtain the default value for the generalized coordinates q that has been set for this mobilizer.
Bushing()
Construct an empty handle that can be assigned to reference any MobilizedBody::Bushing.
Definition MobilizedBody_Bushing.h:90
Bushing & setDefaultQ(const Vec6 &q)
Set the default value for the generalized coordinates q for this mobilizer.
Bushing(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
Vec6 & updMyPartU(const State &state, Vector &ulike) const
Given a writable vector in the System's generalized speed basis, extract a writable reference to the ...
Bushing & setDefaultTransform(const Transform &X_FM)
Override the default pose for this mobilizer.
Definition MobilizedBody_Bushing.h:129
Bushing & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Add DecorativeGeometry to the parent (inboard) body of this mobilizer, positioned relative to the mob...
Definition MobilizedBody_Bushing.h:157
const Vec6 & getMyPartQ(const State &state, const Vector &qlike) const
Given a vector in the System's generalized coordinate basis, extract the six q's belonging to this mo...
Transform getDefaultTransform() const
Return the default pose for this mobilizer as a Transform.
Definition MobilizedBody_Bushing.h:137
const Vec6 & getMyPartU(const State &state, const Vector &ulike) const
Given a vector in the System's generalized speed basis, extract the six u's belonging to this mobiliz...
const Vec6 & getU(const State &state) const
Obtain the current value for this mobilizer's generalized speeds u from the given State,...
const Vec6 & getQDot(const State &state) const
Obtain the current value for this mobilizer's generalized coordinate time derivatives qdot from the g...
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
Vec3P convertRotationToBodyFixedXYZ() const
A convenient special case of convertThreeAxesRotationToThreeAngles().
Definition Rotation.h:843
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition State.h:280
const Rotation_< P > & R() const
Return a read-only reference to the contained rotation R_BF.
Definition Transform.h:215
const Vec< 3, P > & p() const
Return a read-only reference to our translation vector p_BF.
Definition Transform.h:239
This is a fixed-length column vector designed for no-overhead inline computation.
Definition Vec.h:184
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition Vec.h:837
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition Vec.h:827
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37
@ BodyRotationSequence
Definition Rotation.h:42
const CoordinateAxis::ZCoordinateAxis ZAxis
Constant representing the Z coordinate axis; will implicitly convert to the integer 2 when used in a ...
const CoordinateAxis::YCoordinateAxis YAxis
Constant representing the Y coordinate axis; will implicitly convert to the integer 1 when used in a ...
const CoordinateAxis::XCoordinateAxis XAxis
Constant representing the X coordinate axis; will implicitly convert to the integer 0 when used in a ...