GeneralForceSubsystem Class Reference
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem. More...
#include <GeneralForceSubsystem.h>
Inheritance diagram for GeneralForceSubsystem:
Public Member Functions | |
| GeneralForceSubsystem () | |
| GeneralForceSubsystem (MultibodySystem &) | |
| ForceIndex | adoptForce (Force &force) |
| Attach a new force to this subsystem. | |
| int | getNumForces () const |
| Get the number of Forces which have been added. | |
| const Force & | getForce (ForceIndex index) const |
| Get a const reference to a Force by index. | |
| Force & | updForce (ForceIndex index) |
| Get a modifiable reference to a Force by index. | |
| bool | isForceDisabled (const State &state, ForceIndex index) const |
| Get whether a force is disabled. | |
| void | setForceIsDisabled (State &state, ForceIndex index, bool disabled) |
| Set whether a force is disabled. | |
| SimTK_PIMPL_DOWNCAST (GeneralForceSubsystem, ForceSubsystem) | |
| int | getNForces () const |
Detailed Description
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Each force is represented by a Force object. For example, to add a spring between two bodies, you would write
GeneralForceSubsystem forces(system); ... Force::TwoPointLinearSpring(forces, body1, station1, body2, station2, k, x0);
Constructor & Destructor Documentation
| GeneralForceSubsystem | ( | MultibodySystem & | ) | [explicit] |
Member Function Documentation
| ForceIndex adoptForce | ( | Force & | force | ) |
Attach a new force to this subsystem.
The subsystem takes over ownership of the force, leaving the passed in handle as a reference to it.
| int getNForces | ( | ) | const [inline] |
| int getNumForces | ( | ) | const |
Get the number of Forces which have been added.
| bool isForceDisabled | ( | const State & | state, | |
| ForceIndex | index | |||
| ) | const |
Get whether a force is disabled.
| void setForceIsDisabled | ( | State & | state, | |
| ForceIndex | index, | |||
| bool | disabled | |||
| ) |
Set whether a force is disabled.
| SimTK_PIMPL_DOWNCAST | ( | GeneralForceSubsystem | , | |
| ForceSubsystem | ||||
| ) |
The documentation for this class was generated from the following file:
