Simbody 3.7
MobilizedBody_SphericalCoords.h
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1#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_
2#define SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_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) 2007-13 Stanford University and the Authors. *
13 * Authors: Michael Sherman *
14 * Contributors: Christopher Bruns *
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
78public:
82
92 const Body& bodyInfo, const Transform& X_BM,
93 Direction=Forward);
94
97 SphericalCoords(MobilizedBody& parent, const Body& bodyInfo,
98 Direction=Forward);
99
100
103 const Body& bodyInfo, const Transform& X_BM,
104 Real azimuthOffset, bool azimuthNegated,
105 Real zenithOffset, bool zenithNegated,
106 CoordinateAxis radialAxis, bool radialNegated,
107 Direction=Forward);
108
110 (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
111 }
113 (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
114 }
116 (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
117 }
118
120 (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
121 }
122
124 (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
125 }
126
127 // Friendly, mobilizer-specific access to coordinates and speeds.
129 Vec3 q = getDefaultQ(); q.updSubVec<2>(0) = a; setDefaultQ(q);
130 return *this;
131 }
133 Vec3 q = getDefaultQ(); q[2] = r; setDefaultQ(q);
134 return *this;
135 }
140
141 const Vec2& getDefaultAngles() const {return getDefaultQ().getSubVec<2>(0);}
142 Real getDefaultTranslation() const {return getDefaultQ()[2];}
143
145 bool isAzimuthNegated() const;
146 bool isZenithNegated() const;
147 bool isRadialNegated() const;
148
149 void setAngles(State& s, const Vec2& a) {setOneQ(s,0,a[0]); setOneQ(s,1,a[1]);}
150 void setRadius(State& s, Real r) {setOneQ(s,2,r);}
151
152 const Vec2& getAngles(const State& s) const {return getQ(s).getSubVec<2>(0);}
153 Real getRadius(const State& s) const {return getQ(s)[2];}
154
155 // Generic default state Topology methods.
156 const Vec3& getDefaultQ() const;
158
159 const Vec3& getQ(const State&) const;
160 const Vec3& getQDot(const State&) const;
161 const Vec3& getQDotDot(const State&) const;
162 const Vec3& getU(const State&) const;
163 const Vec3& getUDot(const State&) const;
164
165 void setQ(State&, const Vec3&) const;
166 void setU(State&, const Vec3&) const;
167
168 const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
169 const Vec3& getMyPartU(const State&, const Vector& ulike) const;
170
171 Vec3& updMyPartQ(const State&, Vector& qlike) const;
172 Vec3& updMyPartU(const State&, Vector& ulike) const;
173 // hide from Doxygen
176 SphericalCoordsImpl, MobilizedBody);
178};
179
180} // namespace SimTK
181
182#endif // SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_
183
184
185
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 class, along with its sister class CoordinateDirection, provides convenient manipulation of the ...
Definition: CoordinateAxis.h:53
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
Three mobilities – body fixed 3-2 (z-y) rotation followed by translation along body z or body x.
Definition: MobilizedBody_SphericalCoords.h:77
SphericalCoords & setRadialAxis(CoordinateAxis)
Vec3 & updMyPartU(const State &, Vector &ulike) const
void setAngles(State &s, const Vec2 &a)
Definition: MobilizedBody_SphericalCoords.h:149
const Vec3 & getMyPartQ(const State &, const Vector &qlike) const
const Vec3 & getUDot(const State &) const
SphericalCoords & setDefaultQ(const Vec3 &q)
void setU(State &, const Vec3 &) const
SphericalCoords & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:109
const Vec3 & getMyPartU(const State &, const Vector &ulike) const
SphericalCoords(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Real azimuthOffset, bool azimuthNegated, Real zenithOffset, bool zenithNegated, CoordinateAxis radialAxis, bool radialNegated, Direction=Forward)
Use this constructor to specify the general case described above.
SphericalCoords & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:112
void setQ(State &, const Vec3 &) const
const Vec3 & getQDot(const State &) const
void setRadius(State &s, Real r)
Definition: MobilizedBody_SphericalCoords.h:150
SphericalCoords & setDefaultAngles(const Vec2 &a)
Definition: MobilizedBody_SphericalCoords.h:128
const Vec2 & getDefaultAngles() const
Definition: MobilizedBody_SphericalCoords.h:141
SphericalCoords & setNegateZenith(bool)
SphericalCoords(MobilizedBody &parent, const Body &bodyInfo, Direction=Forward)
Abbreviated constructor you can use if the mobilizer frames are coincident with the parent and child ...
CoordinateAxis getRadialAxis() const
const Vec3 & getQDotDot(const State &) const
SphericalCoords & setNegateRadial(bool)
SphericalCoords(MobilizedBody &parent, const Transform &X_PF, const Body &bodyInfo, const Transform &X_BM, Direction=Forward)
Create a SphericalCoords mobilizer between an existing parent (inboard) body P and a new child (outbo...
Real getDefaultTranslation() const
Definition: MobilizedBody_SphericalCoords.h:142
const Vec2 & getAngles(const State &s) const
Definition: MobilizedBody_SphericalCoords.h:152
const Vec3 & getQ(const State &) const
SphericalCoords & setDefaultRadius(Real r)
Definition: MobilizedBody_SphericalCoords.h:132
const Vec3 & getU(const State &) const
SphericalCoords & setNegateAzimuth(bool)
Vec3 & updMyPartQ(const State &, Vector &qlike) const
Real getRadius(const State &s) const
Definition: MobilizedBody_SphericalCoords.h:153
SphericalCoords & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_SphericalCoords.h:123
SphericalCoords()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Sph...
Definition: MobilizedBody_SphericalCoords.h:81
SphericalCoords & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_SphericalCoords.h:115
SphericalCoords & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_SphericalCoords.h:119
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.
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Vec< MM, ELT, STRIDE > & updSubVec(int i)
Extract a writable reference to a sub-Vec with size known at compile time.
Definition: Vec.h:837
const Vec< MM, ELT, STRIDE > & getSubVec(int i) const
Extract a const reference to a sub-Vec with size known at compile time.
Definition: Vec.h:827
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