Simbody  3.5
Constraint_Ball.h
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_BALL_H_
00002 #define SimTK_SIMBODY_CONSTRAINT_BALL_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 //                  CONSTRAINT::  BALL (COINCIDENT POINTS)
00036 //==============================================================================
00037 
00057 class SimTK_SIMBODY_EXPORT Constraint::Ball : public Constraint {
00058 public:
00062 Ball(MobilizedBody& body1, MobilizedBody& body2);
00066 Ball(MobilizedBody& body1, const Vec3& defaultPoint1,
00067         MobilizedBody& body2, const Vec3& defaultPoint2);
00068 
00070 Ball() {}
00071 
00076 void setPointOnBody1(State& state, const Vec3& point_B1) const;
00081 void setPointOnBody2(State& state, const Vec3& point_B2) const;
00082 
00085 const Vec3& getPointOnBody1(const State& state) const;
00088 const Vec3& getPointOnBody2(const State& state) const;
00089 
00094 Ball& setDefaultPointOnBody1(const Vec3& defaultPoint_B1);
00099 Ball& setDefaultPointOnBody2(const Vec3& defaultPoint_B2);
00100 
00105 const Vec3& getDefaultPointOnBody1() const;
00110 const Vec3& getDefaultPointOnBody2() const;
00111 
00112 
00115 Ball& setDefaultRadius(Real r);
00118 Real getDefaultRadius() const;
00119 
00121 MobilizedBodyIndex getBody1MobilizedBodyIndex() const;
00123 MobilizedBodyIndex getBody2MobilizedBodyIndex() const;
00124 
00125 
00131 Vec3 getPositionErrors(const State& state) const;
00132 
00139 Vec3 getVelocityErrors(const State& state) const;
00140 
00149 Vec3 getAccelerationErrors(const State&) const;
00150 
00154 Vec3 getBallReactionForceOnBody1(const State&) const;
00158 Vec3 getBallReactionForceOnBody2(const State&) const;
00159 
00167 Vec3 getMultipliers(const State& state) const;
00168  // hide from Doxygen
00170 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Ball, BallImpl, Constraint);
00172 };
00173 
00174 
00175 } // namespace SimTK
00176 
00177 #endif // SimTK_SIMBODY_CONSTRAINT_BALL_H_
00178 
00179 
00180 
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