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 MatterSubsystem. More...
#include "SimTKmath.h"#include "simbody/internal/common.h"#include "simbody/internal/Body.h"#include "simbody/internal/Motion.h"#include <cassert>Go to the source code of this file.
Classes | |
| class | MobilizedBody |
| This is the base class for all MobilizedBody classes, just a handle for the underlying hidden implementation. More... | |
| class | Pin |
| One mobility -- rotation about the common z axis of the inboard and outboard mobilizer frames. More... | |
| class | Slider |
| One mobility -- translation along the common x axis of the inboard and outboard mobilizer frames. More... | |
| class | Screw |
| One mobility -- coordinated rotation and translation along the common z axis of the inboard and outboard mobilizer frames. More... | |
| class | Universal |
| Two mobilities -- rotation about the x axis, followed by a rotation about the new y axis. More... | |
| class | Cylinder |
| Two mobilities -- rotation and translation along the common z axis of the inboard and outboard mobilizer frames. More... | |
| class | BendStretch |
| Two mobilities: The z axis of the parent's F frame is used for rotation (and that is always aligned with the M frame z axis). More... | |
| class | Planar |
| Three mobilities -- z rotation and x,y translation. More... | |
| class | SphericalCoords |
| Three mobilities -- body fixed 3-2 (z-y) rotation followed by translation along body z or body x. More... | |
| class | Gimbal |
| Three mobilities -- unrestricted orientation modeled as a 1-2-3 body-fixed Euler angle sequence. More... | |
| class | Ball |
| Three mobilities -- unrestricted orientation modeled with a quaternion which is never singular. More... | |
| class | Ellipsoid |
| Three mobilities -- coordinated rotation and translation along the surface of an ellipsoid fixed to the parent (inboard) body. More... | |
| class | Translation |
| Three translational mobilities. More... | |
| class | Free |
| Unrestricted motion for a rigid body (six mobilities). More... | |
| class | LineOrientation |
| Two mobilities, representing unrestricted orientation for a body which is inertialess along its own z axis. More... | |
| class | FreeLine |
| Five mobilities, representing unrestricted motion for a body which is inertialess along its own z axis. More... | |
| class | Weld |
| Zero mobilities. More... | |
| class | Ground |
| This is a special type of "mobilized" body used as a placeholder for Ground in the 0th slot for a MatterSubsystem's mobilized bodies. More... | |
| class | Custom |
| The handle class MobilizedBody::Custom (dataless) and its companion class MobilizedBody::Custom::Implementation can be used together to define new MobilizedBody types with arbitrary properties. More... | |
| class | Implementation |
| class | FunctionBased |
| This is a subclass of MobilizedBody::Custom which uses a set of Function objects to define the behavior of the MobilizedBody. More... | |
Namespaces | |
| namespace | SimTK |
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with other symbols. | |
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 MatterSubsystem.
MobilizedBody is an abstract base class handle, with concrete classes defined for each kind of mobilizer. There are a set of built-in mobilizers and a generic "Custom" mobilizer (an actual abstract base class) from which advanced users may derive their own mobilizers.
A Mobilizer may be associated with a Motion object which defines how it is to move; otherwise its motion is calculated as a result of the application of forces (either directly applied or resulting from constraint forces generated to satisfy restrictions imposed by Constraint objects).
1.6.1