Constraint_Weld.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_WELD_H_
#define SimTK_SIMBODY_CONSTRAINT_WELD_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 {

//==============================================================================
//                  WELD (COINCIDENT FRAMES) CONSTRAINT
//==============================================================================

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

Weld(MobilizedBody& body1, MobilizedBody& body2);

Weld(MobilizedBody& body1, const Transform& frame1,
        MobilizedBody& body2, const Transform& frame2);
    
Weld() {}

    // Control over generated decorative geometry.

Weld& setAxisDisplayLength(Real r);

Real getAxisDisplayLength() const;

    // Defaults for Instance variables.

Weld& setDefaultFrameOnBody1(const Transform&);

const Transform& getDefaultFrameOnBody1() const;

Weld& setDefaultFrameOnBody2(const Transform&);

const Transform& getDefaultFrameOnBody2() const;


    // Stage::Topology

MobilizedBodyIndex getBody1MobilizedBodyIndex() const;

MobilizedBodyIndex getBody2MobilizedBodyIndex() const;


    // Stage::Instance
const Transform& getFrameOnBody1(const State&) const;
const Transform& getFrameOnBody2(const State&) const;

    // Stage::Position, Velocity, Acceleration
Vec6 getPositionErrors(const State&) const;
Vec6 getVelocityErrors(const State&) const;

    // Stage::Acceleration
Vec6 getAccelerationErrors(const State&) const;
Vec6 getMultipliers(const State&) const;

    // Forces are reported expressed in the body frame of the indicated body.
const SpatialVec& getWeldReactionOnBody1(const State&) const;
const SpatialVec& getWeldReactionOnBody2(const State&) const;
 // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Weld, WeldImpl, Constraint);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_WELD_H_