This is the implementation class for Custom mobilizers. More...

#include <MobilizedBody_Custom.h>

Inheritance diagram for SimTK::MobilizedBody::Custom::Implementation:

Public Member Functions
virtual	~Implementation ()
	Destructor is virtual so derived classes get a chance to clean up if necessary. More...

virtual Implementation *	clone () const =0
	This method should produce a deep copy identical to the concrete derived Implementation object underlying this Implementation base class object. More...

	Implementation (SimbodyMatterSubsystem &, int nu, int nq, int nAngles=0)
	This Implementation base class constructor sets the topological defaults for the number of mobilities (generalized speeds) u, the number of generalized coordinates q, and the number of those q's that are angles. More...

Vector	getQ (const State &s) const
	Return a Vector containing all the generalized coordinates q currently in use by this mobilizer. More...

Vector	getU (const State &s) const
	Return a Vector containing all the generalized speeds u currently in use by this mobilizer. More...

Vector	getQDot (const State &s) const
	Return a Vector containing all the generalized coordinate derivatives qdot currently in use by this mobilizer. More...

Vector	getUDot (const State &s) const
	Return a Vector containing all the generalized accelerations udot currently in use by this mobilizer. More...

Vector	getQDotDot (const State &s) const
	Return a Vector containing all the generalized coordinate second derivatives qdotdot currently in use by this mobilizer. More...

Transform	getMobilizerTransform (const State &s) const
	Get the cross-mobilizer transform X_FM, the body's "moving" mobilizer frame M measured and expressed in the parent body's corresponding "fixed" frame F. More...

SpatialVec	getMobilizerVelocity (const State &s) const
	Get the cross-mobilizer velocity V_FM, the relative velocity of this body's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F. More...

bool	getUseEulerAngles (const State &s) const
	Get whether rotations are being represented as quaternions or Euler angles. More...

void	invalidateTopologyCache () const
	Call this if you want to make sure that the next realizeTopology() call does something. More...

MobilizedBody Virtuals
These must be defined for any Custom MobilizedBody. Note that the numbers nu, nq, and nAngles are passed in to these routines for redundancy – you should make sure they have the values you are expecting!
virtual Transform	calcMobilizerTransformFromQ (const State &s, int nq, const Real *q) const =0
	Given values for this mobilizer's nq generalized coordinates q, compute X_FM(q), that is, the cross-mobilizer spatial Transform giving the configuration of the "moving" frame M fixed to the outboard (child) body B in the "fixed" frame F attached to the inboard (parent) body P. More...

virtual SpatialVec	multiplyByHMatrix (const State &s, int nu, const Real *u) const =0
	Calculate V_FM(u) = H*u where H=H(q) is the joint transition matrix mapping the mobilities to the relative spatial velocity between the F frame on the parent to the M frame on the child. More...

virtual void	multiplyByHTranspose (const State &s, const SpatialVec &F, int nu, Real *f) const =0
	Calculate f = ~H*F where F is a spatial force (torque+force) and f is its mapping onto the mobilities. More...

virtual SpatialVec	multiplyByHDotMatrix (const State &s, int nu, const Real *u) const =0
	Calculate A0_FM = HDot*u where HDot=HDot(q,u) is the time derivative of H. More...

virtual void	multiplyByHDotTranspose (const State &s, const SpatialVec &F, int nu, Real *f) const =0
	Calculate f = ~HDot*F where F is a spatial vector and f is its mapping onto the mobilities. More...

virtual void	multiplyByN (const State &s, bool transposeMatrix, int nIn, const Real in, int nOut, Real out) const
	Calculate out_q = N(q)in_u (e.g., qdot=Nu) or out_u = ~N*in_q. More...

virtual void	multiplyByNInv (const State &s, bool transposeMatrix, int nIn, const Real in, int nOut, Real out) const
	Calculate out_u = NInv(q)in_q (e.g., u=NInvqdot) or out_q = ~NInv*in_u. More...

virtual void	multiplyByNDot (const State &s, bool transposeMatrix, int nIn, const Real in, int nOut, Real out) const
	Calculate out_q = NDot(q)in_u or out_u = ~NDotin_q. More...

virtual void	setQToFitTransform (const State &, const Transform &X_FM, int nq, Real *q) const
	Find a set of q's for this mobilizer that best approximate the supplied Transform which requests a particular relative orientation and translation between the "fixed" and "moving" frames connected by this mobilizer. More...

virtual void	setUToFitVelocity (const State &, const SpatialVec &V_FM, int nu, Real *u) const
	Find a set of u's (generalized speeds) for this mobilizer that best approximate the supplied spatial velocity `V_FM` which requests the relative angular and linear velocity between the "fixed" and "moving" frames connected by this mobilizer. More...

virtual void	calcDecorativeGeometryAndAppend (const State &s, Stage stage, Array_< DecorativeGeometry > &geom) const
	Implement this optional method if you would like your MobilizedBody to generate any suggestions for geometry that could be used as default visualization as an aid to understanding a system containing this MobilizedBody. More...

Optional realize() Virtual Methods
Provide implementations of these methods if you want to allocate State variables (such as modeling options or parameters) or want to pre-calculate some expensive quantities and store them in the State cache for your future use. Note that the Position and Velocity realize methods will be called before calling the matrix operator methods for this MobilizedBody. That way if you want to precalculate the H or HDot matrix, for example, you can do so in realizePosition() or realizeVelocity() and then use it in multiplyByHMatrix(), etc.
virtual void	realizeTopology (State &) const
	The Matter Subsystem's realizeTopology() method will call this method along with the built-in MobilizedBodies' realizeTopology() methods. More...

virtual void	realizeModel (State &) const
	The Matter Subsystem's realizeModel() method will call this method along with the built-in MobilizedBodies' realizeModel() methods. More...

virtual void	realizeInstance (const State &) const
	The Matter Subsystem's realizeInstance() method will call this method along with the built-in MobilizedBodies' realizeInstance() methods. More...

virtual void	realizeTime (const State &) const
	The Matter Subsystem's realizeTime() method will call this method along with the built-in MobilizedBodies' realizeTime() methods. More...

virtual void	realizePosition (const State &) const
	The Matter Subsystem's realizePosition() method will call this method along with the built-in MobilizedBodies' realizePosition() methods. More...

virtual void	realizeVelocity (const State &) const
	The Matter Subsystem's realizeVelocity() method will call this method along with the built-in MobilizedBodies' realizeVelocity() methods. More...

virtual void	realizeDynamics (const State &) const
	The Matter Subsystem's realizeDynamics() method will call this method along with the built-in MobilizedBodies' realizeDynamics() methods. More...

virtual void	realizeAcceleration (const State &) const
	The Matter Subsystem's realizeAcceleration() method will call this method along with the built-in MobilizedBodies' realizeAcceleration() methods. More...

virtual void	realizeReport (const State &) const
	The Matter Subsystem's realizeReport() method will call this method along with the built-in MobilizedBodies' realizeReport() methods. More...

Public Member Functions inherited from SimTK::PIMPLHandle< Implementation, ImplementationImpl >
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 Implementation &other) const
	Determine whether the supplied handle is the same object as "this" PIMPLHandle. More...

void	disown (Implementation &newOwner)
	Give up ownership of the implementation to an empty handle. More...

PIMPLHandle &	referenceAssign (const Implementation &source)
	"Copy" assignment but with shallow (pointer) semantics. More...

PIMPLHandle &	copyAssign (const Implementation &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 ImplementationImpl &	getImpl () const
	Get a const reference to the implementation associated with this Handle. More...

ImplementationImpl &	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...

Friends
class	MobilizedBody::CustomImpl

Additional Inherited Members
Public Types inherited from SimTK::PIMPLHandle< Implementation, ImplementationImpl >
typedef PIMPLHandle < Implementation, ImplementationImpl, false >	HandleBase

typedef HandleBase	ParentHandle

Protected Member Functions inherited from SimTK::PIMPLHandle< Implementation, ImplementationImpl >
	PIMPLHandle ()
	The default constructor makes this an empty handle. More...

	PIMPLHandle (ImplementationImpl *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 (ImplementationImpl *p)
	Set the implementation for this empty handle. More...

bool	hasSameImplementation (const Implementation &other) const
	Determine whether the supplied handle is a reference to the same implementation object as is referenced by "this" PIMPLHandle. More...

Detailed Description

This is the implementation class for Custom mobilizers.

See Also: MobilizedBody::Custom

Constructor & Destructor Documentation

virtual SimTK::MobilizedBody::Custom::Implementation::~Implementation ( )

virtual

Destructor is virtual so derived classes get a chance to clean up if necessary.

SimTK::MobilizedBody::Custom::Implementation::Implementation	(	SimbodyMatterSubsystem &	,
		int	nu,
		int	nq,
		int	nAngles = `0`
	)

This Implementation base class constructor sets the topological defaults for the number of mobilities (generalized speeds) u, the number of generalized coordinates q, and the number of those q's that are angles.

There can be up to 3 angular coordinates (which must be measured in radians). You also can specify 4 as the number of angles, which is interpreted to mean the the mobilizer uses a quaternion to represent orientation. Because quaternions are not appropriate for some calculations, however, the user may globally disable them by calling setUseEulerAngles() on the SimbodyMatterSubsystem. Therefore, if you specify nAngles=4, the actual number of angular state variables may be either 3 (a set of Euler angles) or 4 (quaternion components), and the total number of state variables could be either nq-1 or nq. Before interpreting the state variables, you must first call getUseEulerAngles() to determine which representation is in use.

In any case, if there are any angular coordinates they must be the first coordinates in the array of q's associated with this mobilizer. Translational or other q's will immediately follow the angular ones. This permits Simbody to handle quaternion normalization and conversion automatically, and to find angles which need to have their sines and cosines calculated.

NOTE: if you don't say there are any angles, you can manage things yourself. However, there is no way to get quaternions normalized and converted if you don't tell Simbody about them.

Member Function Documentation

virtual Implementation* SimTK::MobilizedBody::Custom::Implementation::clone ( ) const

pure virtual

This method should produce a deep copy identical to the concrete derived Implementation object underlying this Implementation base class object.

Note that the result is new heap space; the caller must be sure to take ownership of the returned pointer and call delete on it when done.

Vector SimTK::MobilizedBody::Custom::Implementation::getQ ( const State & s ) const

Return a Vector containing all the generalized coordinates q currently in use by this mobilizer.

Note that if this mobilizer uses quaternions, the number of q's will depend on whether quaternions are currently enabled. Call getUseEulerAngles() to check this.

Vector SimTK::MobilizedBody::Custom::Implementation::getU ( const State & s ) const

Return a Vector containing all the generalized speeds u currently in use by this mobilizer.

Vector SimTK::MobilizedBody::Custom::Implementation::getQDot ( const State & s ) const

Return a Vector containing all the generalized coordinate derivatives qdot currently in use by this mobilizer.

Note that if this mobilizer uses quaternions, the number of q's will depend on whether quaternions are currently enabled. Call getUseEulerAngles() to check this.

Vector SimTK::MobilizedBody::Custom::Implementation::getUDot ( const State & s ) const

Return a Vector containing all the generalized accelerations udot currently in use by this mobilizer.

Vector SimTK::MobilizedBody::Custom::Implementation::getQDotDot ( const State & s ) const

Return a Vector containing all the generalized coordinate second derivatives qdotdot currently in use by this mobilizer.

Note that if this mobilizer uses quaternions, the number of q's will depend on whether quaternions are currently enabled. Call getUseEulerAngles() to check this.

Transform SimTK::MobilizedBody::Custom::Implementation::getMobilizerTransform ( const State & s ) const

Get the cross-mobilizer transform X_FM, the body's "moving" mobilizer frame M measured and expressed in the parent body's corresponding "fixed" frame F.

The state must have been realized to at least Position stage. Note: this refers to F and M as defined, not as they are if the mobilizer has been reversed (that is, we're really returning X_F0M0 here).

SpatialVec SimTK::MobilizedBody::Custom::Implementation::getMobilizerVelocity ( const State & s ) const

Get the cross-mobilizer velocity V_FM, the relative velocity of this body's "moving" mobilizer frame M in the parent body's corresponding "fixed" frame F, measured and expressed in F.

Note that this isn't the usual spatial velocity since it isn't expressed in G. The state must have been realized to at least Velocity stage. Note: this refers to F and M as defined, not as they are if the mobilizer has been reversed (that is, we're really returning V_F0M0 here).

bool SimTK::MobilizedBody::Custom::Implementation::getUseEulerAngles ( const State & s ) const

Get whether rotations are being represented as quaternions or Euler angles.

This method is only relevant if the constructor was invoked with nAngles==4. If this returns false, the first four q's should be interpreted as the components of a (possibly not normalized) quaternion. If it returns true, the first three q's should be interpreted as Euler angles.

Note that the total number of state variables is one less when using Euler angles than when using quaternions.

void SimTK::MobilizedBody::Custom::Implementation::invalidateTopologyCache ( ) const

Call this if you want to make sure that the next realizeTopology() call does something.

This is done automatically when you modify the MobilizedBody in ways understood by Simbody. But if you are just changing some of your own topology and want to make sure you get a chance to recompute something in realizeTopology(), make this call at the time of modification.

virtual Transform SimTK::MobilizedBody::Custom::Implementation::calcMobilizerTransformFromQ	(	const State &	s,
		int	nq,
		const Real *	q
	)		const

pure virtual

Given values for this mobilizer's nq generalized coordinates q, compute X_FM(q), that is, the cross-mobilizer spatial Transform giving the configuration of the "moving" frame M fixed to the outboard (child) body B in the "fixed" frame F attached to the inboard (parent) body P.

The state is guaranteed to have been realized to at least Instance stage. Caution: if your mobilizer has a quaternion, the four q's will not necessarily be normalized here but you must normalize them before converting them to a Rotation. Casting them to a Quaternion will do that automatically.

virtual SpatialVec SimTK::MobilizedBody::Custom::Implementation::multiplyByHMatrix	(	const State &	s,
		int	nu,
		const Real *	u
	)		const

pure virtual

Calculate V_FM(u) = H*u where H=H(q) is the joint transition matrix mapping the mobilities to the relative spatial velocity between the F frame on the parent to the M frame on the child.

The state is guaranteed to have been realized to at least Position stage.

IMPORTANT – H should depend only on X_FM(q), not directly on q, since different sets of q's can generate the same Transform (e.g. quaternions and Euler angles). You can call getMobilizerTransform(s) to get the already calculated Transform.

EVEN MORE IMPORTANT – H here must be the same as the H^T used in multiplyByHTranspose(), and the HDot methods must use the time derivative of H.

Note: the "H" we're using here is the transpose of what is used in Schwieter's IVM paper and in all of Abhi Jain's papers. That's because Jain used H^T as the joint kinematics Jacobian, with H being the force transmission matrix which no mobilizer-writing user is going to be thinking about.

See Also: multiplyByHTranspose()

virtual void SimTK::MobilizedBody::Custom::Implementation::multiplyByHTranspose	(	const State &	s,
		const SpatialVec &	F,
		int	nu,
		Real *	f
	)		const

pure virtual

Calculate f = ~H*F where F is a spatial force (torque+force) and f is its mapping onto the mobilities.

IMPORTANT – H should depend only on X_FM(q), not directly on q, since different sets of q's can generate the same Transform (e.g. quaternions and Euler angles). You can call getMobilizerTransform(s) to get the already calculated Transform. H here must match H and HDot in the other methods for this mobilizer.

See Also: multiplyByHMatrix()

virtual SpatialVec SimTK::MobilizedBody::Custom::Implementation::multiplyByHDotMatrix	(	const State &	s,
		int	nu,
		const Real *	u
	)		const

pure virtual

Calculate A0_FM = HDot*u where HDot=HDot(q,u) is the time derivative of H.

This calculates the "bias acceleration" due to coriolis effects, such that the full cross-mobilizer acceleration is A_FM=A0_FM + H*udot. The state is guaranteed to have been realized to at least Velocity stage.

IMPORTANT – HDot should depend only on X_FM(q) and V_FM(q,u), not directly on q or u, since different choices of coordinates can generate the same X and V, but all such choices must produce the same H and HDot. You can call getMobilizerTransform(s) to get the already calculated Transform, and getMobilizerVelocity(s) to get the already calculated velocity.

virtual void SimTK::MobilizedBody::Custom::Implementation::multiplyByHDotTranspose	(	const State &	s,
		const SpatialVec &	F,
		int	nu,
		Real *	f
	)		const

pure virtual

Calculate f = ~HDot*F where F is a spatial vector and f is its mapping onto the mobilities.

The state is guaranteed to have been realized to at least Velocity stage.

IMPORTANT – HDot should depend only on X_FM(q) and V_FM(q,u), not directly on q or u, since different choices of coordinates can generate the same X and V, but all such choices must produce the same H and HDot. You can call getMobilizerTransform(s) to get the already calculated Transform, and getMobilizerVelocity(s) to get the already calculated velocity.

virtual void SimTK::MobilizedBody::Custom::Implementation::multiplyByN	(	const State &	s,
		bool	transposeMatrix,
		int	nIn,
		const Real *	in,
		int	nOut,
		Real *	out
	)		const

virtual

Calculate out_q = N(q)*in_u (e.g., qdot=N*u) or out_u = ~N*in_q.

Note that one of "in" and "out" is always "q-like" while the other is "u-like", but which is which changes if the matrix is transposed. Note that the transposed operation here is the same as multiplying by N on the right, with the Vectors viewed as RowVectors instead. The default implementation assumes that N is an identity matrix, and will only work if nq=nu=nIn=nOut and nAngles < 4 (i.e., no quaternions). If this is true for your mobilizer, you do not need to implement this method.

The state is guaranteed to have been realized to at least Position stage.

virtual void SimTK::MobilizedBody::Custom::Implementation::multiplyByNInv	(	const State &	s,
		bool	transposeMatrix,
		int	nIn,
		const Real *	in,
		int	nOut,
		Real *	out
	)		const

virtual

Calculate out_u = NInv(q)*in_q (e.g., u=NInv*qdot) or out_q = ~NInv*in_u.

Note that one of "in" and "out" is always "q-like" while the other is "u-like", but which is which changes if the matrix is transposed. Note that the transposed operation here is the same as multiplying by NInv on the right, with the Vectors viewed as RowVectors instead. The default implementation assumes that NInv is an identity matrix, and will only work if nq=nu=nIn=nOut and nAngles < 4 (i.e., no quaternions). If this is true for your mobilizer, you do not need to implement this method.

The state is guaranteed to have been realized to at least Position stage.

virtual void SimTK::MobilizedBody::Custom::Implementation::multiplyByNDot	(	const State &	s,
		bool	transposeMatrix,
		int	nIn,
		const Real *	in,
		int	nOut,
		Real *	out
	)		const

virtual

Calculate out_q = NDot(q)*in_u or out_u = ~NDot*in_q.

Note that one of "in" and "out" is always "q-like" while the other is "u-like", but which is which changes if the matrix is transposed. Note that the transposed operation here is the same as multiplying by NDot on the right, with the Vectors viewed as RowVectors instead. The default implementation assumes that NDot is zero, and will only work if nq=nu=nIn=nOut and nAngles < 4 (i.e., no quaternions) If this is true for your mobilizer, you do not need to implement this method.

The state is guaranteed to have been realized to at least Position stage.

virtual void SimTK::MobilizedBody::Custom::Implementation::setQToFitTransform	(	const State &	,
		const Transform &	X_FM,
		int	nq,
		Real *	q
	)		const

virtual

Find a set of q's for this mobilizer that best approximate the supplied Transform which requests a particular relative orientation and translation between the "fixed" and "moving" frames connected by this mobilizer.

The state is guaranteed to have been realized to at least Instance stage.

The default implementation uses a nonlinear optimizer to search for the best fit. Whenever possible, subclasses should override this to provide a faster and more robust implementation.

virtual void SimTK::MobilizedBody::Custom::Implementation::setUToFitVelocity	(	const State &	,
		const SpatialVec &	V_FM,
		int	nu,
		Real *	u
	)		const

virtual

Find a set of u's (generalized speeds) for this mobilizer that best approximate the supplied spatial velocity V_FM which requests the relative angular and linear velocity between the "fixed" and "moving" frames connected by this mobilizer.

Routines which affect generalized speeds u depend on the generalized coordinates q already having been set; they never change these coordinates. The state is guaranteed to have been realized to at least Position stage.

See Also: setQToFitTransform()

The default implementation uses a nonlinear optimizer to search for the best fit. Whenever possible, subclasses should override this to provide a faster and more robust implementation.

virtual void SimTK::MobilizedBody::Custom::Implementation::calcDecorativeGeometryAndAppend	(	const State &	s,
		Stage	stage,
		Array_< DecorativeGeometry > &	geom
	)		const

inlinevirtual

Implement this optional method if you would like your MobilizedBody to generate any suggestions for geometry that could be used as default visualization as an aid to understanding a system containing this MobilizedBody.

For example, if your mobilizer connects two points, you might want to draw a line between those points. You can also generate text labels, and you can provide methods for controlling the presence or appearance of your generated geometry. If you don't implement this routine no extra geometry will be generated here.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeTopology ( State & ) const

inlinevirtual

The Matter Subsystem's realizeTopology() method will call this method along with the built-in MobilizedBodies' realizeTopology() methods.

This gives the MobilizedBody a chance to

pre-calculate Topology stage "cache" values (mutable values which are stored in the derived Implementation class directly), and
allocate Model-stage state variables for later use, and
allocate Model-stage cache entries in the State. The indices to the Model-stage state & cache entries are stored locally as part of the Topology-stage cache.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeModel ( State & ) const

inlinevirtual

The Matter Subsystem's realizeModel() method will call this method along with the built-in MobilizedBodies' realizeModel() methods.

This gives the MobilizedBody a chance to

pre-calculate Model stage cache values according to the settings of the Model variables,
allocate any later-Stage variables that may be needed (typically these will be Instance stage variables containing geometric information or parameters like lengths or pitch for a Screw. The indices to any of the State entries allocated here are stored in the State as part of the Model-stage cache.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeInstance ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeInstance() method will call this method along with the built-in MobilizedBodies' realizeInstance() methods.

This gives the MobilizedBody a chance to

pre-calculate Instance stage cache values according to the settings of the Instance variables.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeTime ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeTime() method will call this method along with the built-in MobilizedBodies' realizeTime() methods.

This gives the MobilizedBody a chance to

pre-calculate Time stage cache values according to the current value of time found in the State.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizePosition ( const State & ) const

inlinevirtual

The Matter Subsystem's realizePosition() method will call this method along with the built-in MobilizedBodies' realizePosition() methods.

This gives the MobilizedBody a chance to

pre-calculate Position stage cache values according to the current values of positions found in the State. Note that this is called before methods which implement operators involving position-dependent matrices N and H.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeVelocity ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeVelocity() method will call this method along with the built-in MobilizedBodies' realizeVelocity() methods.

This gives the MobilizedBody a chance to

pre-calculate Velocity stage cache values according to the current values of velocities found in the State. Note that this is called before methods which implement operators involving velocity-dependent matrices NDot and HDot.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeDynamics ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeDynamics() method will call this method along with the built-in MobilizedBodies' realizeDynamics() methods.

This gives the MobilizedBody a chance to

pre-calculate Dynamics stage cache values according to the current values found in the State. Computations at Dynamics stage cannot affect the behavior of the MobilizedBody since that is completely determined by the Position and Velocity stage operators.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeAcceleration ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeAcceleration() method will call this method along with the built-in MobilizedBodies' realizeAcceleration() methods.

This gives the MobilizedBody a chance to

pre-calculate Acceleration stage cache values according to the current values of body and mobility accelerations found in the State. Computations at Acceleration stage cannot affect the behavior of the MobilizedBody since that is completely determined by the Position and Velocity stage operators.

virtual void SimTK::MobilizedBody::Custom::Implementation::realizeReport ( const State & ) const

inlinevirtual

The Matter Subsystem's realizeReport() method will call this method along with the built-in MobilizedBodies' realizeReport() methods.

This gives the MobilizedBody a chance to

calculate Report stage cache values according to the current values found in the State. Computations at Report stage cannot affect the progress of a simulation in any way.

Friends And Related Function Documentation

friend class MobilizedBody::CustomImpl

friend

The documentation for this class was generated from the following file:

MobilizedBody_Custom.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation