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CableTrackerSubsystem.h
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1 #ifndef SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_
2 #define SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_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 Stanford University and the Authors. *
13  * Authors: Michael Sherman, Ian Stavness, Andreas Scholz *
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 
27 #include "SimTKmath.h"
29 
30 namespace SimTK {
31 
35 SimTK_DEFINE_UNIQUE_INDEX_TYPE(CablePathIndex);
36 
37 class MultibodySystem;
38 class CablePath;
39 
40 //==============================================================================
41 // CABLE TRACKER SUBSYSTEM
42 //==============================================================================
69 public:
72 
76 int getNumCablePaths() const;
77 
79 const CablePath& getCablePath(CablePathIndex cableIx) const;
81 CablePath& updCablePath(CablePathIndex cableIx);
82  // Hide from Doxygen.
85 class Impl;
86 Impl& updImpl();
87 const Impl& getImpl() const;
89 };
90 
91 } // namespace SimTK
92 
93 #endif // SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:564
A Subsystem is expected to be part of a larger System and to have interdependencies with other subsys...
Definition: Subsystem.h:55
SimTK_DEFINE_UNIQUE_INDEX_TYPE(AssemblyConditionIndex)
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Every Simbody header and source file should include this header before any other Simbody header...
This is a unique integer type for quickly identifying specific cables for fast lookup purposes...
This subsystem tracks the paths of massless, frictionless cables that take the shortest route between...
Definition: CableTrackerSubsystem.h:68
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
This class represents the path of a frictionless cable from an origin point fixed to a body...
Definition: CablePath.h:92