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Constraint_Rod.h
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1 #ifndef SimTK_SIMBODY_CONSTRAINT_ROD_H_
2 #define SimTK_SIMBODY_CONSTRAINT_ROD_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 // ROD (CONSTANT DISTANCE) CONSTRAINT
36 //==============================================================================
37 
53 public:
54  // no default constructor
55 
56 //------------------------------------------------------------------------------
93 Rod(MobilizedBody& mobod1, const Vec3& defaultPointOnBody1,
94  MobilizedBody& mobod2, const Vec3& defaultPointOnBody2,
95  Real defaultRodLength);
96 
115 Rod(MobilizedBody& mobod1, MobilizedBody& mobod2,
116  Real defaultRodLength);
117 
120 Rod() {}
121 
124 const MobilizedBody& getMobilizedBody1() const;
125 
128 const MobilizedBody& getMobilizedBody2() const;
129 
134 Rod& setDefaultPointOnBody1(const Vec3& defaultPoint);
139 Rod& setDefaultPointOnBody2(const Vec3& defaultPoint);
144 Rod& setDefaultRodLength(Real defaultRodLength);
145 
150 const Vec3& getDefaultPointOnBody1() const;
155 const Vec3& getDefaultPointOnBody2() const;
159 Real getDefaultRodLength() const;
162 //------------------------------------------------------------------------------
174  // nothing yet
177 //------------------------------------------------------------------------------
201 const Rod& setPointOnBody1(State& state, const Vec3& p_B1P) const;
208 const Rod& setPointOnBody2(State& state, const Vec3& p_B2Q) const;
213 const Rod& setRodLength(State& state, Real rodLength) const;
219 const Vec3& getPointOnBody1(const State& state) const;
225 const Vec3& getPointOnBody2(const State& state) const;
228 Real getRodLength(const State& state) const;
231 //------------------------------------------------------------------------------
240 Real getPositionError(const State&) const;
241 
245 Real getVelocityError(const State&) const;
246 
248 Real getAccelerationError(const State&) const;
249 
255 Real getMultiplier(const State&) const;
256 
261 Real getRodTension(const State&) const;
262 
268 UnitVec3 findRodOrientationInG(const State& state) const;
269 
276 Real findLengthViolation(const State& state) const;
277 
280 //------------------------------------------------------------------------------
285 MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
287 MobilizedBodyIndex getBody2MobilizedBodyIndex() const; // hide from Doxygen
293 };
294 
295 } // namespace SimTK
296 
297 #endif // SimTK_SIMBODY_CONSTRAINT_ROD_H_
298 
299 
300 
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
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
Rod()
Default constructor creates an empty handle that can be used to reference any Rod Constraint...
Definition: Constraint_Rod.h:120
This defines the base Constraint class and related classes, which are used to specify limitations on ...
This constraint consists of one constraint equation that enforces a constant distance between a point...
Definition: Constraint_Rod.h:52
#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