1#ifndef SimTK_SIMBODY_CONSTRAINT_ROD_H_
2#define SimTK_SIMBODY_CONSTRAINT_ROD_H_
95 Real defaultRodLength);
116 Real defaultRodLength);
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#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
This constraint consists of one constraint equation that enforces a constant distance between a point...
Definition Constraint_Rod.h:52
const Vec3 & getPointOnBody1(const State &state) const
Return the position on body 1 of the rod end point P on the first body, mobod1, as currently set in t...
MobilizedBodyIndex getBody2MobilizedBodyIndex() const
(Obscure) Use getMobilizedBody2() instead.
Real getVelocityError(const State &) const
This is the time derivative of the value returned by getPositionError(); in this case it is the relat...
const Rod & setPointOnBody1(State &state, const Vec3 &p_B1P) const
Modify the location of the point P on the first body, mobod1, in this state by providing a new vector...
const Vec3 & getDefaultPointOnBody2() const
Return the default location for the point attached to the second mobilized body, mobod2,...
Rod & setDefaultPointOnBody2(const Vec3 &defaultPoint)
Replace the default location for the point attached to the second body, mobod2, that was supplied on ...
Real getPositionError(const State &) const
This is the signed violation of the position constraint, in length units.
const Rod & setRodLength(State &state, Real rodLength) const
Modify the rod length (distance) in this state.
Real findLengthViolation(const State &state) const
Calculate the amount by which this constraint is violated.
UnitVec3 findRodOrientationInG(const State &state) const
Return the instantaneous orientation of the Rod in the Ground frame.
Rod & setDefaultRodLength(Real defaultRodLength)
Replace the default rod length (distance), replacing whatever value was supplied on construction.
const Vec3 & getDefaultPointOnBody1() const
Return the default location for the point attached to the first mobilized body, mobod1,...
const MobilizedBody & getMobilizedBody2() const
Return a reference to the second MobilizedBody given in the constructor.
Real getDefaultRodLength() const
Return the default rod length (distance) as set during construction or by the most recent call to set...
Rod & setDefaultPointOnBody1(const Vec3 &defaultPoint)
Replace the default location for the point attached to the first body, mobod1, that was supplied on c...
MobilizedBodyIndex getBody1MobilizedBodyIndex() const
(Obscure) Use getMobilizedBody1() instead.
Real getMultiplier(const State &) const
This is the Lagrange multiplier required to enforce the constraint equation generated here.
Real getAccelerationError(const State &) const
This is the time derivative of the value returned by getVelocityError().
Rod(MobilizedBody &mobod1, const Vec3 &defaultPointOnBody1, MobilizedBody &mobod2, const Vec3 &defaultPointOnBody2, Real defaultRodLength)
Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentatio...
Real getRodLength(const State &state) const
Return the rod length (distance) as currently set in the given state.
Rod()
Default constructor creates an empty handle that can be used to reference any Rod Constraint.
Definition Constraint_Rod.h:120
Rod(MobilizedBody &mobod1, MobilizedBody &mobod2, Real defaultRodLength)
Construct a Rod (constant distance) constraint as described in the Constraint::Rod class documentatio...
Real getRodTension(const State &) const
This returns the tension in the Rod being used to enforce the constraint.
const Vec3 & getPointOnBody2(const State &state) const
Return the position on body 2 of the rod end point Q attached to the second body, mobod2,...
const Rod & setPointOnBody2(State &state, const Vec3 &p_B2Q) const
Modify the location of the point Q on the second body, mobod2, in this state by providing a new vecto...
const MobilizedBody & getMobilizedBody1() const
Return a reference to the first MobilizedBody given in the constructor.
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition Constraint.h:67
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition MobilizedBody.h:169
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
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition SimTKcommon/include/SimTKcommon/internal/common.h:606