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MobilizedBody_Bushing.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_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) 2012-13 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 
87 public:
90  Bushing() {}
91 
97  Bushing(MobilizedBody& parent, const Transform& X_PF,
98  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
99 
102  Bushing(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
103 
110  { (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }
111 
118  { (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }
119 
130  { Vec6 q;
131  q.updSubVec<3>(0) = X_FM.R().convertRotationToBodyFixedXYZ();
132  q.updSubVec<3>(3) = X_FM.p();
133  return setDefaultQ(q); }
134 
138  const Vec6& q = getDefaultQ();
140  q[0], XAxis, q[1], YAxis, q[2], ZAxis),
141  q.getSubVec<3>(3));
142  }
143 
147  { (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }
148 
153  { (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }
154 
158  { (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }
159 
167  const Vec6& getDefaultQ() const;
174  Bushing& setDefaultQ(const Vec6& q);
175 
179  const Vec6& getQ(const State& state) const;
187  const Vec6& getQDot(const State& state) const;
194  const Vec6& getQDotDot(const State& state) const;
195 
200  const Vec6& getU(const State& state) const;
205  const Vec6& getUDot(const State& state) const;
206 
214  void setQ(State& state, const Vec6& q) const;
224  void setU(State& state, const Vec6& u) const;
225 
232  const Vec6& getMyPartQ(const State& state, const Vector& qlike) const;
235  const Vec6& getMyPartU(const State& state, const Vector& ulike) const;
236 
240  Vec6& updMyPartQ(const State& state, Vector& qlike) const;
244  Vec6& updMyPartU(const State& state, Vector& ulike) const; // Hide from Doxygen.
250 };
251 
252 
253 } // namespace SimTK
254 
255 #endif // SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
256 
257 
258 
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition: Vec.h:825
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
Transform getDefaultTransform() const
Return the default pose for this mobilizer as a Transform.
Definition: MobilizedBody_Bushing.h:137
Bushing & setDefaultInboardFrame(const Transform &X_PF)
Change the default inboard ("fixed") frame F on the parent body of this mobilizer.
Definition: MobilizedBody_Bushing.h:109
Vec3P convertRotationToBodyFixedXYZ() const
A convenient special case of convertThreeAxesRotationToThreeAngles().
Definition: Rotation.h:843
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
const CoordinateAxis::ZCoordinateAxis ZAxis
Constant representing the Z coordinate axis; will implicitly convert to the integer 2 when used in a ...
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
const CoordinateAxis::YCoordinateAxis YAxis
Constant representing the Y coordinate axis; will implicitly convert to the integer 1 when used in a ...
Bushing()
Construct an empty handle that can be assigned to reference any MobilizedBody::Bushing.
Definition: MobilizedBody_Bushing.h:90
Bushing & setDefaultOutboardFrame(const Transform &X_BM)
Change the default outboard ("moving") frame M on this mobilized body (that is, on this mobilizer's c...
Definition: MobilizedBody_Bushing.h:117
Rotation_< Real > Rotation
Definition: Rotation.h:47
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition: Vec.h:835
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the new (outboard) body's reference frame B...
Definition: MobilizedBody.h:1501
Bushing & setDefaultTransform(const Transform &X_FM)
Override the default pose for this mobilizer.
Definition: MobilizedBody_Bushing.h:129
Definition: Rotation.h:42
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Bushing & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody, positioned relative to the body's frame.
Definition: MobilizedBody_Bushing.h:146
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:180
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
This defines the MobilizedBody class, which associates a new body (the "child", "outboard", or "successor" body) with a mobilizer and a reference frame on an existing body (the "parent", "inboard", or "predecessor" body) that is already part of a SimbodyMatterSubsystem.
#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 a fixed-length column vector designed for no-overhead inline computation. ...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:589
const Vec< 3, P > & p() const
Return a read-only reference to our translation vector p_BF.
Definition: Transform.h:239
Bushing & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Add DecorativeGeometry to the parent (inboard) body of this mobilizer, positioned relative to the mob...
Definition: MobilizedBody_Bushing.h:157
const Rotation_< P > & R() const
Return a read-only reference to the contained rotation R_BF.
Definition: Transform.h:215
Transform_< Real > Transform
Definition: Transform.h:44
Bushing & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Add DecorativeGeometry to the privately-owned Body contained in this MobilizedBody, positioned relative to the mobilizer's M frame on that body.
Definition: MobilizedBody_Bushing.h:152
Six mobilities – arbitrary relative motion modeled as x-y-z translation followed by an x-y-z body-fi...
Definition: MobilizedBody_Bushing.h:86
const CoordinateAxis::XCoordinateAxis XAxis
Constant representing the X coordinate axis; will implicitly convert to the integer 0 when used in a ...