Simbody
3.5
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_ROD_H_ 00002 #define SimTK_SIMBODY_CONSTRAINT_ROD_H_ 00003 00004 /* -------------------------------------------------------------------------- * 00005 * Simbody(tm) * 00006 * -------------------------------------------------------------------------- * 00007 * This is part of the SimTK biosimulation toolkit originating from * 00008 * Simbios, the NIH National Center for Physics-Based Simulation of * 00009 * Biological Structures at Stanford, funded under the NIH Roadmap for * 00010 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. * 00011 * * 00012 * Portions copyright (c) 2007-14 Stanford University and the Authors. * 00013 * Authors: Michael Sherman * 00014 * Contributors: * 00015 * * 00016 * Licensed under the Apache License, Version 2.0 (the "License"); you may * 00017 * not use this file except in compliance with the License. You may obtain a * 00018 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. * 00019 * * 00020 * Unless required by applicable law or agreed to in writing, software * 00021 * distributed under the License is distributed on an "AS IS" BASIS, * 00022 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * 00023 * See the License for the specific language governing permissions and * 00024 * limitations under the License. * 00025 * -------------------------------------------------------------------------- */ 00026 00030 #include "simbody/internal/Constraint.h" 00031 00032 namespace SimTK { 00033 00034 //============================================================================== 00035 // ROD (CONSTANT DISTANCE) CONSTRAINT 00036 //============================================================================== 00037 00052 class SimTK_SIMBODY_EXPORT Constraint::Rod : public Constraint { 00053 public: 00054 // no default constructor 00055 00056 //------------------------------------------------------------------------------ 00093 Rod(MobilizedBody& mobod1, const Vec3& defaultPointOnBody1, 00094 MobilizedBody& mobod2, const Vec3& defaultPointOnBody2, 00095 Real defaultRodLength); 00096 00115 Rod(MobilizedBody& mobod1, MobilizedBody& mobod2, 00116 Real defaultRodLength); 00117 00120 Rod() {} 00121 00124 const MobilizedBody& getMobilizedBody1() const; 00125 00128 const MobilizedBody& getMobilizedBody2() const; 00129 00134 Rod& setDefaultPointOnBody1(const Vec3& defaultPoint); 00139 Rod& setDefaultPointOnBody2(const Vec3& defaultPoint); 00144 Rod& setDefaultRodLength(Real defaultRodLength); 00145 00150 const Vec3& getDefaultPointOnBody1() const; 00155 const Vec3& getDefaultPointOnBody2() const; 00159 Real getDefaultRodLength() const; 00162 //------------------------------------------------------------------------------ 00174 // nothing yet 00177 //------------------------------------------------------------------------------ 00201 const Rod& setPointOnBody1(State& state, const Vec3& p_B1P) const; 00208 const Rod& setPointOnBody2(State& state, const Vec3& p_B2Q) const; 00213 const Rod& setRodLength(State& state, Real rodLength) const; 00219 const Vec3& getPointOnBody1(const State& state) const; 00225 const Vec3& getPointOnBody2(const State& state) const; 00228 Real getRodLength(const State& state) const; 00231 //------------------------------------------------------------------------------ 00240 Real getPositionError(const State&) const; 00241 00245 Real getVelocityError(const State&) const; 00246 00248 Real getAccelerationError(const State&) const; 00249 00255 Real getMultiplier(const State&) const; 00256 00261 Real getRodTension(const State&) const; 00262 00268 UnitVec3 findRodOrientationInG(const State& state) const; 00269 00276 Real findLengthViolation(const State& state) const; 00277 00280 //------------------------------------------------------------------------------ 00285 MobilizedBodyIndex getBody1MobilizedBodyIndex() const; 00287 MobilizedBodyIndex getBody2MobilizedBodyIndex() const; // hide from Doxygen 00291 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Rod, RodImpl, Constraint); 00293 }; 00294 00295 } // namespace SimTK 00296 00297 #endif // SimTK_SIMBODY_CONSTRAINT_ROD_H_ 00298 00299 00300