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Simbody
3.3
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Simbody
3.3
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A constant torque to a body. More...
#include <Force.h>
Inheritance diagram for SimTK::Force::ConstantTorque:Public Member Functions | |
| ConstantTorque (GeneralForceSubsystem &forces, const MobilizedBody &body, const Vec3 &torque) | |
| ConstantTorque () | |
| Default constructor creates an empty handle. More... | |
| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (ConstantTorque, ConstantTorqueImpl, Force) | |
| Public Member Functions inherited from SimTK::Force | |
| void | disable (State &) const |
| Disable this force element, effectively removing it from the System for computational purposes (it is still using its ForceIndex, however). More... | |
| void | enable (State &) const |
| Enable this force element if it was previously disabled. More... | |
| bool | isDisabled (const State &) const |
| Test whether this force element is currently disabled in the supplied State. More... | |
| void | setDisabledByDefault (bool shouldBeDisabled) |
| Normally force elements are enabled when defined and can be disabled later. More... | |
| bool | isDisabledByDefault () const |
| Test whether this force element is disabled by default in which case it must be explicitly enabled before it will take effect. More... | |
| void | calcForceContribution (const State &state, Vector_< SpatialVec > &bodyForces, Vector_< Vec3 > &particleForces, Vector &mobilityForces) const |
| Calculate the force that would be applied by this force element if the given state were realized to Dynamics stage. More... | |
| Real | calcPotentialEnergyContribution (const State &state) const |
| Calculate the potential energy contribution that is made by this force element at the given state. More... | |
| Force () | |
| Default constructor for Force handle base class does nothing. More... | |
| operator ForceIndex () const | |
| Implicit conversion to ForceIndex when needed. More... | |
| const GeneralForceSubsystem & | getForceSubsystem () const |
| Get the GeneralForceSubsystem of which this Force is an element. More... | |
| ForceIndex | getForceIndex () const |
| Get the index of this force element within its parent force subsystem. More... | |
| Public Member Functions inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > | |
| bool | isEmptyHandle () const |
| Returns true if this handle is empty, that is, does not refer to any implementation object. More... | |
| bool | isOwnerHandle () const |
| Returns true if this handle is the owner of the implementation object to which it refers. More... | |
| bool | isSameHandle (const Force &other) const |
| Determine whether the supplied handle is the same object as "this" PIMPLHandle. More... | |
| void | disown (Force &newOwner) |
| Give up ownership of the implementation to an empty handle. More... | |
| PIMPLHandle & | referenceAssign (const Force &source) |
| "Copy" assignment but with shallow (pointer) semantics. More... | |
| PIMPLHandle & | copyAssign (const Force &source) |
| This is real copy assignment, with ordinary C++ object ("value") semantics. More... | |
| void | clearHandle () |
| Make this an empty handle, deleting the implementation object if this handle is the owner of it. More... | |
| const ForceImpl & | getImpl () const |
| Get a const reference to the implementation associated with this Handle. More... | |
| ForceImpl & | updImpl () |
| Get a writable reference to the implementation associated with this Handle. More... | |
| int | getImplHandleCount () const |
| Return the number of handles the implementation believes are referencing it. More... | |
Additional Inherited Members | |
| Public Types inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > | |
| typedef PIMPLHandle< Force, ForceImpl, PTR > | HandleBase |
| typedef HandleBase | ParentHandle |
| Protected Member Functions inherited from SimTK::Force | |
| Force (ForceImpl *r) | |
| Use this in a derived Force handle class constructor to supply the concrete implementation object to be stored in the handle base. More... | |
| Protected Member Functions inherited from SimTK::PIMPLHandle< Force, ForceImpl, true > | |
| PIMPLHandle () | |
| The default constructor makes this an empty handle. More... | |
| PIMPLHandle (ForceImpl *p) | |
| This provides consruction of a handle referencing an existing implementation object. More... | |
| PIMPLHandle (const PIMPLHandle &source) | |
| The copy constructor makes either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer
semantics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| ~PIMPLHandle () | |
| Note that the destructor is non-virtual. More... | |
| PIMPLHandle & | operator= (const PIMPLHandle &source) |
| Copy assignment makes the current handle either a deep (value) or shallow (reference) copy of the supplied source PIMPL object, based on whether this is a "pointer sematics" (PTR=true) or "object (value) semantics" (PTR=false, default) class. More... | |
| void | setImpl (ForceImpl *p) |
| Set the implementation for this empty handle. More... | |
| bool | hasSameImplementation (const Force &other) const |
| Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More... | |
A constant torque to a body.
The torque is a vector fixed forever in the Ground frame. This force does not contribute to the potential energy, so adding it to a system will cause energy not to be conserved.
| SimTK::Force::ConstantTorque::ConstantTorque | ( | GeneralForceSubsystem & | forces, |
| const MobilizedBody & | body, | ||
| const Vec3 & | torque | ||
| ) |
|
inline |
Default constructor creates an empty handle.
| SimTK::Force::ConstantTorque::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS | ( | ConstantTorque | , |
| ConstantTorqueImpl | , | ||
| Force | |||
| ) |
1.8.6 
