CableTrackerSubsystem.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_
#define SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2012 Stanford University and the Authors.           *
 * Authors: Michael Sherman, Ian Stavness, Andreas Scholz                     *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKmath.h"
#include "simbody/internal/common.h"

namespace SimTK {

SimTK_DEFINE_UNIQUE_INDEX_TYPE(CablePathIndex);

class MultibodySystem;
class CablePath;

//==============================================================================
//                          CABLE TRACKER SUBSYSTEM
//==============================================================================
class SimTK_SIMBODY_EXPORT CableTrackerSubsystem : public Subsystem {
public:
CableTrackerSubsystem();
explicit CableTrackerSubsystem(MultibodySystem&);

int getNumCablePaths() const;

const CablePath& getCablePath(CablePathIndex cableIx) const;
CablePath& updCablePath(CablePathIndex cableIx);
 // Hide from Doxygen.
SimTK_PIMPL_DOWNCAST(CableTrackerSubsystem, Subsystem);
class Impl;
Impl& updImpl();
const Impl& getImpl() const;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CABLE_TRACKER_SUBSYSTEM_H_