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MobilizedBody_Ellipsoid.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_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) 2009-13 Stanford University and the Authors. *
13  * Authors: Ajay Seth, 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 
46 public:
49  Ellipsoid() {}
50 
58  Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
59  const Body& bodyInfo, const Transform& X_BM,
60  const Vec3& radii, Direction=Forward);
61 
64  Ellipsoid(MobilizedBody& parent, const Body& bodyInfo,
65  const Vec3& radii, Direction=Forward);
66 
69  Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
70  const Body& bodyInfo, const Transform& X_BM,
71  Direction=Forward);
72 
76  Ellipsoid(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
77 
80  Ellipsoid& setDefaultRadii(const Vec3& radii);
83  const Vec3& getDefaultRadii() const;
84 
85 
92  return setDefaultQ(R_FM.convertRotationToQuaternion());
93  }
96  Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}
97 
99  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
100  }
102  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
103  }
105  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
106  }
107 
109  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
110  }
111 
113  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
114  }
115 
116 
117 
118  // Generic default state Topology methods.
119  const Quaternion& getDefaultQ() const;
120  Quaternion& updDefaultQ();
121  Ellipsoid& setDefaultQ(const Quaternion& q) {updDefaultQ()=q; return *this;}
122 
123  const Vec4& getQ(const State&) const;
124  const Vec4& getQDot(const State&) const;
125  const Vec4& getQDotDot(const State&) const;
126  const Vec3& getU(const State&) const;
127  const Vec3& getUDot(const State&) const;
128 
129  void setQ(State&, const Vec4&) const;
130  void setU(State&, const Vec3&) const;
131 
132  const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
133  const Vec3& getMyPartU(const State&, const Vector& ulike) const;
134 
135  Vec4& updMyPartQ(const State&, Vector& qlike) const;
136  Vec3& updMyPartU(const State&, Vector& ulike) const;
137  // hide from Doxygen
140  MobilizedBody);
142 };
143 
144 } // namespace SimTK
145 
146 #endif // SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
147 
148 
149 
Ellipsoid & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:98
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...
Ellipsoid & setDefaultQ(const Quaternion &q)
Definition: MobilizedBody_Ellipsoid.h:121
Rotation getDefaultRotation() const
Get the value for the default orientation of this mobilizer; unless changed by setDefaultRotation() i...
Definition: MobilizedBody_Ellipsoid.h:96
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
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41
Three mobilities – coordinated rotation and translation along the surface of an ellipsoid fixed to t...
Definition: MobilizedBody_Ellipsoid.h:45
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
Rotation_< Real > Rotation
Definition: Rotation.h:47
Ellipsoid & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:101
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
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
Ellipsoid & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:104
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B...
Ellipsoid & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ellipsoid.h:112
Ellipsoid & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ellipsoid.h:108
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:180
Ellipsoid()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Ell...
Definition: MobilizedBody_Ellipsoid.h:49
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.
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
#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
Ellipsoid & setDefaultRotation(const Rotation &R_FM)
Provide a default orientation for this mobilizer if you don't want to start with the identity rotatio...
Definition: MobilizedBody_Ellipsoid.h:91