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Force_MobilityLinearStop.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_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) 2013 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 
27 #include "SimTKcommon.h"
28 #include "simbody/internal/Force.h"
29 
35 namespace SimTK {
36 
66 public:
90  const MobilizedBody& mobod,
91  MobilizerQIndex whichQ,
92  Real defaultStiffness,
93  Real defaultDissipation,
94  Real defaultQLow =-Infinity,
95  Real defaultQHigh= Infinity);
96 
100 
117  MobilityLinearStop& setDefaultBounds(Real defaultQLow, Real defaultQHigh);
118 
119 
134  MobilityLinearStop& setDefaultMaterialProperties
135  (Real defaultStiffness, Real defaultDissipation);
136 
140  Real getDefaultLowerBound() const;
141 
145  Real getDefaultUpperBound() const;
146 
150  Real getDefaultStiffness() const;
151 
155  Real getDefaultDissipation() const;
156 
172  void setBounds(State& state, Real qLow, Real qHigh) const;
173 
187  void setMaterialProperties
188  (State& state, Real stiffness, Real dissipation) const;
189 
194  Real getLowerBound(const State& state) const;
195 
200  Real getUpperBound(const State& state) const;
201 
206  Real getStiffness(const State& state) const;
207 
212  Real getDissipation(const State& state) const;
213 
216  MobilityLinearStopImpl, Force);
218 };
219 
220 
221 
222 } // namespace SimTK
223 
224 #endif // SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_H_
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Model a compliant stop element that acts to keep a mobilizer coordinate q within specified bounds...
Definition: Force_MobilityLinearStop.h:65
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
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
MobilityLinearStop()
Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearStop o...
Definition: Force_MobilityLinearStop.h:99
const Real Infinity
This is the IEEE positive infinity constant for this implementation of the default-precision Real typ...
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167