SimTK::MultibodySystem Class Reference

The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system. More...

#include <MultibodySystem.h>

Inheritance diagram for SimTK::MultibodySystem:

List of all members.

Public Member Functions
	MultibodySystem ()
	MultibodySystem (SimbodyMatterSubsystem &m)
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.
const Real	calcKineticEnergy (const State &) const
	Calculate the total kinetic energy of the system.
Real	calcEnergy (const State &s) const
	Calculate the total energy of the system.
const Vector_< SpatialVec > &	getRigidBodyForces (const State &, Stage) const
const Vector_< Vec3 > &	getParticleForces (const State &, Stage) const
const Vector &	getMobilityForces (const State &, Stage) const
Vector_< SpatialVec > &	updRigidBodyForces (const State &, Stage) const
Vector_< Vec3 > &	updParticleForces (const State &, Stage) const
Vector &	updMobilityForces (const State &, Stage) const
	SimTK_PIMPL_DOWNCAST (MultibodySystem, System)
class MultibodySystemRep &	updRep ()
const MultibodySystemRep &	getRep () const
Protected Member Functions
	MultibodySystem (MultibodySystemRep *)

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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
• a DecorationSubsystem for visualization
• a GeneralContactSubsystem for contact geometry There will also be a generic System-level "subsystem" for global variables.

---

Constructor & Destructor Documentation

SimTK::MultibodySystem::MultibodySystem

(

)

SimTK::MultibodySystem::MultibodySystem

(

SimbodyMatterSubsystem &

m

)

[explicit]

SimTK::MultibodySystem::MultibodySystem

(

MultibodySystemRep *

)

[explicit, protected]

---

Member Function Documentation

int SimTK::MultibodySystem::addForceSubsystem

(

ForceSubsystem &

)

int SimTK::MultibodySystem::setMatterSubsystem

(

SimbodyMatterSubsystem &

)

const SimbodyMatterSubsystem& SimTK::MultibodySystem::getMatterSubsystem

(

)

const

SimbodyMatterSubsystem& SimTK::MultibodySystem::updMatterSubsystem

(

)

bool SimTK::MultibodySystem::hasMatterSubsystem

(

)

const

int SimTK::MultibodySystem::setDecorationSubsystem

(

DecorationSubsystem &

)

const DecorationSubsystem& SimTK::MultibodySystem::getDecorationSubsystem

(

)

const

DecorationSubsystem& SimTK::MultibodySystem::updDecorationSubsystem

(

)

bool SimTK::MultibodySystem::hasDecorationSubsystem

(

)

const

int SimTK::MultibodySystem::setContactSubsystem

(

GeneralContactSubsystem &

)

const GeneralContactSubsystem& SimTK::MultibodySystem::getContactSubsystem

(

)

const

GeneralContactSubsystem& SimTK::MultibodySystem::updContactSubsystem

(

)

bool SimTK::MultibodySystem::hasContactSubsystem

(

)

const

const Real SimTK::MultibodySystem::calcPotentialEnergy

(

const State &

)

const

Calculate the total potential energy of the system.

The state must be at Dynamics stage or later.

const Real SimTK::MultibodySystem::calcKineticEnergy

(

const State &

)

const

Calculate the total kinetic energy of the system.

The state must be at Velocity stage or later.

Real SimTK::MultibodySystem::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>& SimTK::MultibodySystem::getRigidBodyForces	(	const State &	,
		Stage
	)		const

const Vector_<Vec3>& SimTK::MultibodySystem::getParticleForces	(	const State &	,
		Stage
	)		const

const Vector& SimTK::MultibodySystem::getMobilityForces	(	const State &	,
		Stage
	)		const

Vector_<SpatialVec>& SimTK::MultibodySystem::updRigidBodyForces	(	const State &	,
		Stage
	)		const

Vector_<Vec3>& SimTK::MultibodySystem::updParticleForces	(	const State &	,
		Stage
	)		const

Vector& SimTK::MultibodySystem::updMobilityForces	(	const State &	,
		Stage
	)		const

SimTK::MultibodySystem::SimTK_PIMPL_DOWNCAST	(	MultibodySystem	,
		System
	)

class MultibodySystemRep& SimTK::MultibodySystem::updRep

(

)

const MultibodySystemRep& SimTK::MultibodySystem::getRep

(

)

const

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The documentation for this class was generated from the following file:

• MultibodySystem.h