Simbody  3.5
Constraint_Weld.h
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_WELD_H_
00002 #define SimTK_SIMBODY_CONSTRAINT_WELD_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 //                  WELD (COINCIDENT FRAMES) CONSTRAINT
00036 //==============================================================================
00037 
00060 class SimTK_SIMBODY_EXPORT Constraint::Weld : public Constraint {
00061 public:
00062     // no default constructor
00063 
00066 Weld(MobilizedBody& body1, MobilizedBody& body2);
00067 
00072 Weld(MobilizedBody& body1, const Transform& frame1,
00073         MobilizedBody& body2, const Transform& frame2);
00074     
00076 Weld() {}
00077 
00078     // Control over generated decorative geometry.
00079 
00083 Weld& setAxisDisplayLength(Real r);
00084 
00088 Real getAxisDisplayLength() const;
00089 
00090     // Defaults for Instance variables.
00091 
00095 Weld& setDefaultFrameOnBody1(const Transform&);
00096 
00098 const Transform& getDefaultFrameOnBody1() const;
00099 
00103 Weld& setDefaultFrameOnBody2(const Transform&);
00104 
00106 const Transform& getDefaultFrameOnBody2() const;
00107 
00108 
00109     // Stage::Topology
00110 
00112 MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
00113 
00115 MobilizedBodyIndex getBody2MobilizedBodyIndex() const;
00116 
00117 
00118     // Stage::Instance
00119 const Transform& getFrameOnBody1(const State&) const;
00120 const Transform& getFrameOnBody2(const State&) const;
00121 
00122     // Stage::Position, Velocity, Acceleration
00123 Vec6 getPositionErrors(const State&) const;
00124 Vec6 getVelocityErrors(const State&) const;
00125 
00126     // Stage::Acceleration
00127 Vec6 getAccelerationErrors(const State&) const;
00128 Vec6 getMultipliers(const State&) const;
00129 
00130     // Forces are reported expressed in the body frame of the indicated body.
00131 const SpatialVec& getWeldReactionOnBody1(const State&) const;
00132 const SpatialVec& getWeldReactionOnBody2(const State&) const;
00133  // hide from Doxygen
00135 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Weld, WeldImpl, Constraint);
00137 };
00138 
00139 
00140 } // namespace SimTK
00141 
00142 #endif // SimTK_SIMBODY_CONSTRAINT_WELD_H_
00143 
00144 
00145 
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