Constraint_Rod.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_ROD_H_
#define SimTK_SIMBODY_CONSTRAINT_ROD_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2007-14 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "simbody/internal/Constraint.h"

namespace SimTK {

//==============================================================================
//                  ROD (CONSTANT DISTANCE) CONSTRAINT
//==============================================================================

class SimTK_SIMBODY_EXPORT Constraint::Rod : public Constraint {
public:
    // no default constructor

//------------------------------------------------------------------------------
Rod(MobilizedBody& mobod1, const Vec3& defaultPointOnBody1,
    MobilizedBody& mobod2, const Vec3& defaultPointOnBody2,
    Real defaultRodLength);

Rod(MobilizedBody& mobod1, MobilizedBody& mobod2,
    Real defaultRodLength);

Rod() {}

const MobilizedBody& getMobilizedBody1() const;

const MobilizedBody& getMobilizedBody2() const;

Rod& setDefaultPointOnBody1(const Vec3& defaultPoint);
Rod& setDefaultPointOnBody2(const Vec3& defaultPoint);
Rod& setDefaultRodLength(Real defaultRodLength);

const Vec3& getDefaultPointOnBody1() const;
const Vec3& getDefaultPointOnBody2() const;
Real getDefaultRodLength() const;
//------------------------------------------------------------------------------
    // nothing yet
//------------------------------------------------------------------------------
const Rod& setPointOnBody1(State& state, const Vec3& p_B1P) const;
const Rod& setPointOnBody2(State& state, const Vec3& p_B2Q) const;
const Rod& setRodLength(State& state, Real rodLength) const;
const Vec3& getPointOnBody1(const State& state) const;
const Vec3& getPointOnBody2(const State& state) const;
Real getRodLength(const State& state) const;
//------------------------------------------------------------------------------
Real getPositionError(const State&) const;

Real getVelocityError(const State&) const;

Real getAccelerationError(const State&) const;

Real getMultiplier(const State&) const;

Real getRodTension(const State&) const;

UnitVec3 findRodOrientationInG(const State& state) const;

Real findLengthViolation(const State& state) const;

//------------------------------------------------------------------------------
MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
MobilizedBodyIndex getBody2MobilizedBodyIndex() const; // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Rod, RodImpl, Constraint);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_ROD_H_