1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
133 return setDefaultQ(q); }
138 const Vec6& q = getDefaultQ();
167 const Vec6& getDefaultQ()
const;
179 const Vec6& getQ(
const State& state)
const;
187 const Vec6& getQDot(
const State& state)
const;
194 const Vec6& getQDotDot(
const State& state)
const;
200 const Vec6& getU(
const State& state)
const;
205 const Vec6& getUDot(
const State& state)
const;
214 void setQ(
State& state,
const Vec6& q)
const;
224 void setU(
State& state,
const Vec6& u)
const;
255 #endif // SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
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
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
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 ...