MultibodySystem Class Reference
#include <MultibodySystem.h>
Inheritance diagram for MultibodySystem:
Detailed Description
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system.We insist on having exactly one MatterSubsystem, and we would like also to have:
- one or more ForceSubsystems
- an AnalyticGeometrySubsystem
- a MassPropertiesSubsystem
- a VisualizationSubsystem There will also be a generic System-level "subsystem" for global variables.
Constructor & Destructor Documentation
| MultibodySystem | ( | ) |
| MultibodySystem | ( | MultibodySystemRep * | ) | [explicit, protected] |
Member Function Documentation
| int addForceSubsystem | ( | ForceSubsystem & | ) |
| int setMatterSubsystem | ( | SimbodyMatterSubsystem & | ) |
| const SimbodyMatterSubsystem& getMatterSubsystem | ( | ) | const |
| SimbodyMatterSubsystem& updMatterSubsystem | ( | ) |
| bool hasMatterSubsystem | ( | ) | const |
| int setDecorationSubsystem | ( | DecorationSubsystem & | ) |
| const DecorationSubsystem& getDecorationSubsystem | ( | ) | const |
| DecorationSubsystem& updDecorationSubsystem | ( | ) |
| bool hasDecorationSubsystem | ( | ) | const |
| int setContactSubsystem | ( | GeneralContactSubsystem & | ) |
| const GeneralContactSubsystem& getContactSubsystem | ( | ) | const |
| GeneralContactSubsystem& updContactSubsystem | ( | ) |
| bool hasContactSubsystem | ( | ) | const |
| const Real calcPotentialEnergy | ( | const State & | ) | const |
Calculate the total potential energy of the system.
The state must be at Dynamics stage or later.
| const Real calcKineticEnergy | ( | const State & | ) | const |
Calculate the total kinetic energy of the system.
The state must be at Velocity stage or later.
| Real calcEnergy | ( | const State & | s | ) | const [inline] |
Calculate the total energy of the system.
The state must be at Dynamics stage or later.
| const Vector_<SpatialVec>& getRigidBodyForces | ( | const State & | , | |
| Stage | ||||
| ) | const |
| Vector_<SpatialVec>& updRigidBodyForces | ( | const State & | , | |
| Stage | ||||
| ) | const |
| class MultibodySystemRep& updRep | ( | ) |
| const MultibodySystemRep& getRep | ( | ) | const |
Member Data Documentation
Reimplemented in MolecularMechanicsSystem.
The documentation for this class was generated from the following file:
