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CableSpring.h
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1 #ifndef SimTK_SIMBODY_CABLE_SPRING_H_
2 #define SimTK_SIMBODY_CABLE_SPRING_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) 2012-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
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 
27 #include "SimTKcommon.h"
28 #include "simbody/internal/common.h"
29 #include "simbody/internal/Force.h"
30 #include "simbody/internal/CablePath.h"
31 
37 namespace SimTK {
38 
90 class SimTK_SIMBODY_EXPORT CableSpring : public Force {
91 public:
92 
115 CableSpring(GeneralForceSubsystem& forces,
116  const CablePath& path,
117  Real defaultStiffness,
118  Real defaultSlackLength,
119  Real defaultDissipationCoef);
120 
122 CableSpring() {}
123 
124 
125 //------------------------------------------------------------------------------
146 CableSpring& setDefaultStiffness(Real stiffness);
152 CableSpring& setDefaultSlackLength(Real slackLength);
158 CableSpring& setDefaultDissipationCoef(Real dissipation);
159 
162 Real getDefaultStiffness() const;
165 Real getDefaultSlackLength() const;
169 Real getDefaultDissipationCoef() const;
174 //------------------------------------------------------------------------------
199 const CableSpring& setStiffness(State& state,
200  Real stiffness) const;
208 const CableSpring& setSlackLength(State& state,
209  Real slackLength) const;
217 const CableSpring& setDissipationCoef(State& state,
218  Real dissipationCoef) const;
219 
225 Real getStiffness(const State& state) const;
231 Real getSlackLength(const State& state) const;
239 Real getDissipationCoef(const State& state) const;
244 //------------------------------------------------------------------------------
262 Real getLength(const State& state) const;
267 //------------------------------------------------------------------------------
286 Real getLengthDot(const State& state) const;
287 
292 //------------------------------------------------------------------------------
311 Real getTension(const State& state) const;
316 //------------------------------------------------------------------------------
330 Real getPotentialEnergy(const State& state) const;
331 
342 Real getPowerDissipation(const State& state) const;
343 
356 Real getDissipatedEnergy(const State& state) const;
357 
370 void setDissipatedEnergy(State& state, Real energy) const;
379 const CablePath& getCablePath() const; // Don't show this in Doxygen.
383 class Impl;
384 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
385  (CableSpring, CableSpring::Impl, Force);
387 };
388 
389 } // namespace SimTK
390 
391 #endif // SimTK_SIMBODY_CABLE_SPRING_H_