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Force_MobilityLinearSpring.h
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1 #ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_H_
2 #define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_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) 2008-13 Stanford University and the Authors. *
13  * Authors: Peter Eastman, 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 
27 #include "SimTKcommon.h"
28 #include "simbody/internal/Force.h"
29 
35 namespace SimTK {
36 
50 public:
67  const MobilizedBody& mobod,
68  MobilizerQIndex whichQ,
69  Real defaultStiffness,
70  Real defaultQZero);
71 
75 
88  MobilityLinearSpring& setDefaultStiffness(Real defaultStiffness);
89 
90 
104  MobilityLinearSpring& setDefaultQZero(Real defaultQZero);
105 
109  Real getDefaultStiffness() const;
113  Real getDefaultQZero() const;
114 
128  const MobilityLinearSpring& setStiffness(State& state,
129  Real stiffness) const;
130 
145  const MobilityLinearSpring& setQZero(State& state,
146  Real qZero) const;
147 
152  Real getStiffness(const State& state) const;
153 
158  Real getQZero(const State& state) const;
159 
168  const MobilizedBody& mobod,
169  int whichQ,
170  Real defaultStiffness,
171  Real defaultQZero)
172  { // Invoke the other constructor.
173  new(this) MobilityLinearSpring(forces, mobod, MobilizerQIndex(whichQ),
174  defaultStiffness, defaultQZero);
175  }
180  MobilityLinearSpringImpl, Force);
182 };
183 
184 } // namespace SimTK
185 
186 #endif // SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_SPRING_H_
This is the base class from which all Force element handle classes derive.
Definition: Force.h:50
A linear spring that acts along or around a mobility coordinate to apply a generalized force there...
Definition: Force_MobilityLinearSpring.h:49
MobilityLinearSpring(GeneralForceSubsystem &forces, const MobilizedBody &mobod, int whichQ, Real defaultStiffness, Real defaultQZero)
Deprecated: Alternate signature for backwards compatibilty – for safety you should prefer using the o...
Definition: Force_MobilityLinearSpring.h:167
This is the handle class for the hidden State implementation.
Definition: State.h:264
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
The Mobilizer associated with each MobilizedBody, once modeled, has a specific number of generalized ...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
MobilityLinearSpring()
Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearSpring...
Definition: Force_MobilityLinearSpring.h:74