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MobilizedBody_Translation.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_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 
39 public:
43 
50  Translation(MobilizedBody& parent, const Transform& X_PF,
51  const Body& bodyInfo, const Transform& X_BM,
52  Direction=Forward);
53 
56  Translation(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
57 
59  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
60  }
62  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
63  }
65  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
66  }
67 
69  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
70  }
71 
73  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
74  }
75 
76  // This is just a nicer name for setting this mobilizer's generalized coordinates,
77  // which together constitute the vector from the F frame's origin to the M
78  // frame's origin, expressed in F.
79 
80  // Set the topological default values for the initial q's.
82  return setDefaultQ(p_FM);
83  }
84 
85  // Get the topological default values for the initial q's.
86  const Vec3& getDefaultTranslation() const {
87  return getDefaultQ();
88  }
89 
90  // Set the current value of q's in the given State. Note that this is
91  // the *cross-mobilizer* translation, not location in the Ground frame.
92  void setMobilizerTranslation(State& s, const Vec3& p_FM) const {
93  setQ(s,p_FM);
94  }
95 
96  // Get the current value of the q's for this mobilizer from the given State.
97  const Vec3& getMobilizerTranslation(const State& s) const {
98  return getQ(s);
99  }
100 
101 
102  // Set the current value of u's in the given State. Note that this is
103  // the *cross-mobilizer* velocity v_FM, not velocity in the Ground frame.
104  void setMobilizerVelocity(State& s, const Vec3& v_FM) const {
105  setU(s,v_FM);
106  }
107 
108  // Get the current value of the u's for this mobilizer from the given State.
109  const Vec3& getMobilizerVelocity(const State& s) const {
110  return getU(s);
111  }
112 
113  // Get the value of the udot's for this mobilizer from the given State.
114  const Vec3& getMobilizerAcceleration(const State& s) const {
115  return getUDot(s);
116  }
117 
118  // Generic default state Topology methods.
119  const Vec3& getDefaultQ() const;
120  Translation& setDefaultQ(const Vec3& q);
121 
122  const Vec3& getQ(const State&) const;
123  const Vec3& getQDot(const State&) const;
124  const Vec3& getQDotDot(const State&) const;
125  const Vec3& getU(const State&) const;
126  const Vec3& getUDot(const State&) const;
127 
128  void setQ(State&, const Vec3&) const;
129  void setU(State&, const Vec3&) const;
130 
131  const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
132  const Vec3& getMyPartU(const State&, const Vector& ulike) const;
133 
134  Vec3& updMyPartQ(const State&, Vector& qlike) const;
135  Vec3& updMyPartU(const State&, Vector& ulike) const;
136  // hide from Doxygen
139  MobilizedBody);
141 };
142 
143 } // namespace SimTK
144 
145 #endif // SimTK_SIMBODY_MOBILIZED_BODY_TRANSLATION_H_
146 
147 
148 
Three translational mobilities describing the Cartesian motion of a point.
Definition: MobilizedBody_Translation.h:38
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...
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
Translation & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:64
void setMobilizerVelocity(State &s, const Vec3 &v_FM) const
Definition: MobilizedBody_Translation.h:104
Translation & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:61
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
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
Translation & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Translation.h:68
const Vec3 & getMobilizerAcceleration(const State &s) const
Definition: MobilizedBody_Translation.h:114
Translation & setDefaultTranslation(const Vec3 &p_FM)
Definition: MobilizedBody_Translation.h:81
#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...
Translation & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Translation.h:72
const Vec3 & getMobilizerVelocity(const State &s) const
Definition: MobilizedBody_Translation.h:109
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.
const Vec3 & getDefaultTranslation() const
Definition: MobilizedBody_Translation.h:86
#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
Translation & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Translation.h:58
const Vec3 & getMobilizerTranslation(const State &s) const
Definition: MobilizedBody_Translation.h:97
void setMobilizerTranslation(State &s, const Vec3 &p_FM) const
Definition: MobilizedBody_Translation.h:92
Translation()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Tra...
Definition: MobilizedBody_Translation.h:42