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Constraint_Ball.h
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1 #ifndef SimTK_SIMBODY_CONSTRAINT_BALL_H_
2 #define SimTK_SIMBODY_CONSTRAINT_BALL_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 
32 namespace SimTK {
33 
34 //==============================================================================
35 // CONSTRAINT:: BALL (COINCIDENT POINTS)
36 //==============================================================================
37 
58 public:
62 Ball(MobilizedBody& body1, MobilizedBody& body2);
66 Ball(MobilizedBody& body1, const Vec3& defaultPoint1,
67  MobilizedBody& body2, const Vec3& defaultPoint2);
68 
70 Ball() {}
71 
76 void setPointOnBody1(State& state, const Vec3& point_B1) const;
81 void setPointOnBody2(State& state, const Vec3& point_B2) const;
82 
85 const Vec3& getPointOnBody1(const State& state) const;
88 const Vec3& getPointOnBody2(const State& state) const;
89 
94 Ball& setDefaultPointOnBody1(const Vec3& defaultPoint_B1);
99 Ball& setDefaultPointOnBody2(const Vec3& defaultPoint_B2);
100 
105 const Vec3& getDefaultPointOnBody1() const;
110 const Vec3& getDefaultPointOnBody2() const;
111 
112 
115 Ball& setDefaultRadius(Real r);
118 Real getDefaultRadius() const;
119 
121 MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
123 MobilizedBodyIndex getBody2MobilizedBodyIndex() const;
124 
125 
131 Vec3 getPositionErrors(const State& state) const;
132 
139 Vec3 getVelocityErrors(const State& state) const;
140 
149 Vec3 getAccelerationErrors(const State&) const;
150 
154 Vec3 getBallReactionForceOnBody1(const State&) const;
158 Vec3 getBallReactionForceOnBody2(const State&) const;
159 
167 Vec3 getMultipliers(const State& state) const;
168  // hide from Doxygen
172 };
173 
174 
175 } // namespace SimTK
176 
177 #endif // SimTK_SIMBODY_CONSTRAINT_BALL_H_
178 
179 
180 
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
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:577
Ball()
Default constructor creates an empty handle.
Definition: Constraint_Ball.h:70
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This defines the base Constraint class and related classes, which are used to specify limitations on ...
Enforce that a fixed station on one body remains coincident with a fixed station on a second body...
Definition: Constraint_Ball.h:57
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66