Simbody 3.7
MobilizedBody_Ellipsoid.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_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) 2009-13 Stanford University and the Authors. *
13 * Authors: Ajay Seth, 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
31
32namespace SimTK {
33
46public:
50
58 Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
59 const Body& bodyInfo, const Transform& X_BM,
60 const Vec3& radii, Direction=Forward);
61
64 Ellipsoid(MobilizedBody& parent, const Body& bodyInfo,
65 const Vec3& radii, Direction=Forward);
66
69 Ellipsoid(MobilizedBody& parent, const Transform& X_PF,
70 const Body& bodyInfo, const Transform& X_BM,
71 Direction=Forward);
72
76 Ellipsoid(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);
77
83 const Vec3& getDefaultRadii() const;
84
85
92 return setDefaultQ(R_FM.convertRotationToQuaternion());
93 }
96 Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}
97
99 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
100 }
102 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
103 }
105 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
106 }
107
109 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
110 }
111
113 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
114 }
115
116
117
118 // Generic default state Topology methods.
119 const Quaternion& getDefaultQ() const;
121 Ellipsoid& setDefaultQ(const Quaternion& q) {updDefaultQ()=q; return *this;}
122
123 const Vec4& getQ(const State&) const;
124 const Vec4& getQDot(const State&) const;
125 const Vec4& getQDotDot(const State&) const;
126 const Vec3& getU(const State&) const;
127 const Vec3& getUDot(const State&) const;
128
129 void setQ(State&, const Vec4&) const;
130 void setU(State&, const Vec3&) const;
131
132 const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
133 const Vec3& getMyPartU(const State&, const Vector& ulike) const;
134
135 Vec4& updMyPartQ(const State&, Vector& qlike) const;
136 Vec3& updMyPartU(const State&, Vector& ulike) const;
137 // hide from Doxygen
142};
143
144} // namespace SimTK
145
146#endif // SimTK_SIMBODY_MOBILIZED_BODY_ELLIPSOID_H_
147
148
149
This defines the MobilizedBody class, which associates a new body (the "child", "outboard",...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
Three mobilities – coordinated rotation and translation along the surface of an ellipsoid fixed to th...
Definition: MobilizedBody_Ellipsoid.h:45
const Vec4 & getQDot(const State &) const
const Vec3 & getDefaultRadii() const
Get the default semi-axis dimensions of the ellipsoid as specified during construction or via setDefa...
Rotation getDefaultRotation() const
Get the value for the default orientation of this mobilizer; unless changed by setDefaultRotation() i...
Definition: MobilizedBody_Ellipsoid.h:96
Vec3 & updMyPartU(const State &, Vector &ulike) const
void setU(State &, const Vec3 &) const
Ellipsoid & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:101
const Vec3 & getUDot(const State &) const
Ellipsoid & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:104
const Vec3 & getU(const State &) const
Vec4 & updMyPartQ(const State &, Vector &qlike) const
Ellipsoid()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Ell...
Definition: MobilizedBody_Ellipsoid.h:49
Ellipsoid & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ellipsoid.h:112
const Vec4 & getQDotDot(const State &) const
Ellipsoid(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, const Vec3 &radii, Direction=Forward)
Create an Ellipsoid mobilizer between an existing parent (inboard) body P and a new child (outboard) ...
Ellipsoid & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ellipsoid.h:98
Ellipsoid(MobilizedBody &parent, const Body &bodyInfo, const Vec3 &radii, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
void setQ(State &, const Vec4 &) const
Ellipsoid(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
This constructor assumes you'll set the ellipsoid dimensions later; meanwhile it uses some default di...
Ellipsoid & setDefaultQ(const Quaternion &q)
Definition: MobilizedBody_Ellipsoid.h:121
const Vec4 & getMyPartQ(const State &, const Vector &qlike) const
Ellipsoid & setDefaultRotation(const Rotation &R_FM)
Provide a default orientation for this mobilizer if you don't want to start with the identity rotatio...
Definition: MobilizedBody_Ellipsoid.h:91
const Quaternion & getDefaultQ() const
Ellipsoid(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
This constructor assumes you'll set the ellipsoid dimensions later; meanwhile it uses some default di...
Ellipsoid & setDefaultRadii(const Vec3 &radii)
Modify the default semi-axis dimensions of the ellipsoid, given in the F frame.
Ellipsoid & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ellipsoid.h:108
const Vec4 & getQ(const State &) const
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:169
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Convenience method to add DecorativeGeometry specified relative to the new (outboard) body's referenc...
Definition: MobilizedBody.h:1504
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:65
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
Rotation_< Real > Rotation
Definition: Rotation.h:49