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MobilizedBody_Pin.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_PIN_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) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
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 
47 public:
50  Pin() {}
51 
57  Pin(MobilizedBody& parent, const Transform& X_PF,
58  const Body& bodyInfo, const Transform& X_BM, Direction=Forward);
59 
62  Pin(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
63 
64  // SPECIALIZED INTERFACE FOR PIN MOBILIZER
65 
68  Pin& setDefaultAngle(Real angleInRad) {return setDefaultQ(angleInRad);}
70  Real getDefaultAngle() const {return getDefaultQ();}
71 
72  // Friendly, mobilizer-specific access to generalized coords and speeds.
73 
76  void setAngle(State& s, Real angleInRad) {setQ(s, angleInRad);}
79  Real getAngle(const State& s) const {return getQ(s);}
80 
83  void setRate(State& s, Real rateInRadPerTime) {setU(s, rateInRadPerTime);}
86  Real getRate(const State& s) const {return getU(s);}
87 
88  // Mobility forces are "u-like", that is, one per dof.
91  Real getAppliedPinTorque(const State& s, const Vector& mobilityForces) const {
92  return getMyPartU(s,mobilityForces);
93  }
96  void applyPinTorque(const State& s, Real torque, Vector& mobilityForces) const {
97  updMyPartU(s,mobilityForces) += torque;
98  }
99 
100  // STANDARDIZED MOBILIZED BODY INTERFACE
101 
102 
103  // access to generalized coordinates q and generalized speeds u
104  Pin& setDefaultQ(Real);
105  Real getDefaultQ() const;
106 
107  Real getQ(const State&) const;
108  Real getQDot(const State&) const;
109  Real getQDotDot(const State&) const;
110  Real getU(const State&) const;
111  Real getUDot(const State&) const;
112 
113  void setQ(State&, Real) const;
114  void setU(State&, Real) const;
115 
116  Real getMyPartQ(const State&, const Vector& qlike) const;
117  Real getMyPartU(const State&, const Vector& ulike) const;
118 
119  Real& updMyPartQ(const State&, Vector& qlike) const;
120  Real& updMyPartU(const State&, Vector& ulike) const;
121 
122  // specialize return type for convenience
124  { (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }
126  { (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }
128  { (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }
130  { (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }
132  { (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }
133  // Don't let doxygen see this
137 };
138 
139 } // namespace SimTK
140 
141 #endif // SimTK_SIMBODY_MOBILIZED_BODY_PIN_H_
142 
143 
144 
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...
Pin & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Pin.h:129
void setAngle(State &s, Real angleInRad)
Set the pin joint angle (generalized coordinate q) in the given state.
Definition: MobilizedBody_Pin.h:76
Real getAppliedPinTorque(const State &s, const Vector &mobilityForces) const
Get the generalized force corresponding to this pin mobilizer in the given array of mobility forces...
Definition: MobilizedBody_Pin.h:91
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
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
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
Real getDefaultAngle() const
Get the value that the pin angle will have in the default state.
Definition: MobilizedBody_Pin.h:70
Pin()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Pin...
Definition: MobilizedBody_Pin.h:50
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
Real getRate(const State &s) const
Get the current rotation rate (generalized speed u) that this pin mobilizer has in the given state...
Definition: MobilizedBody_Pin.h:86
Real getAngle(const State &s) const
Get the value that this pin joint's angular coordinate has in the given state.
Definition: MobilizedBody_Pin.h:79
Pin & setDefaultAngle(Real angleInRad)
Set the value that the pin angle should have in the default state.
Definition: MobilizedBody_Pin.h:68
#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...
void applyPinTorque(const State &s, Real torque, Vector &mobilityForces) const
Add in a torque to the generalized force element corresponding to this pin mobilizer in the given arr...
Definition: MobilizedBody_Pin.h:96
Pin & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:125
void setRate(State &s, Real rateInRadPerTime)
Set the rotation rate (generalized speed u) for this pin joint in the given state.
Definition: MobilizedBody_Pin.h:83
Provides one rotational mobility about the common z axis of the F and M frames of the mobilizer...
Definition: MobilizedBody_Pin.h:46
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.
Pin & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:127
Pin & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Pin.h:131
Pin & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Pin.h:123
#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