Simbody  3.5
SimTK::MultibodySystem Class Reference

The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system. More...

+ Inheritance diagram for SimTK::MultibodySystem:

List of all members.

Public Member Functions

 MultibodySystem ()
 MultibodySystem (SimbodyMatterSubsystem &m)
int addForceSubsystem (ForceSubsystem &)
int setMatterSubsystem (SimbodyMatterSubsystem &)
const SimbodyMatterSubsystemgetMatterSubsystem () const
SimbodyMatterSubsystemupdMatterSubsystem ()
bool hasMatterSubsystem () const
int setDecorationSubsystem (DecorationSubsystem &)
const DecorationSubsystemgetDecorationSubsystem () const
DecorationSubsystemupdDecorationSubsystem ()
bool hasDecorationSubsystem () const
int setContactSubsystem (GeneralContactSubsystem &)
const GeneralContactSubsystemgetContactSubsystem () const
GeneralContactSubsystemupdContactSubsystem ()
bool hasContactSubsystem () const
const Real calcPotentialEnergy (const State &) const
 Calculate the total potential energy of the system.
const Real calcKineticEnergy (const State &) const
 Calculate the total kinetic energy of the system.
Real calcEnergy (const State &s) const
 Calculate the total energy of the system.
const Vector_< SpatialVec > & getRigidBodyForces (const State &, Stage) const
const Vector_< Vec3 > & getParticleForces (const State &, Stage) const
const VectorgetMobilityForces (const State &, Stage) const
Vector_< SpatialVec > & updRigidBodyForces (const State &, Stage) const
Vector_< Vec3 > & updParticleForces (const State &, Stage) const
VectorupdMobilityForces (const State &, Stage) const
 SimTK_PIMPL_DOWNCAST (MultibodySystem, System)
class MultibodySystemRep & updRep ()
const MultibodySystemRep & getRep () const

Protected Member Functions

 MultibodySystem (MultibodySystemRep *)

Detailed Description

The job of the MultibodySystem class is to coordinate the activities of various subsystems which can be part of a multibody system.

We insist on having exactly one SimbodyMatterSubsystem, and we would like also to have:


Constructor & Destructor Documentation

SimTK::MultibodySystem::MultibodySystem ( MultibodySystemRep *  ) [explicit, protected]

Member Function Documentation

Calculate the total potential energy of the system.

The state must be at Dynamics stage or later.

Calculate the total kinetic energy of the system.

The state must be at Velocity stage or later.

Real SimTK::MultibodySystem::calcEnergy ( const State s) const [inline]

Calculate the total energy of the system.

The state must be at Dynamics stage or later.

const Vector& SimTK::MultibodySystem::getMobilityForces ( const State ,
Stage   
) const
class MultibodySystemRep& SimTK::MultibodySystem::updRep ( )
const MultibodySystemRep& SimTK::MultibodySystem::getRep ( ) const

The documentation for this class was generated from the following file:
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