Force_MobilityLinearStop.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_H_
#define SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_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) 2013 Stanford University and the Authors.           *
 * Authors: Michael Sherman                                                   *
 * 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 "SimTKcommon.h"
#include "simbody/internal/Force.h"

namespace SimTK {

class SimTK_SIMBODY_EXPORT Force::MobilityLinearStop : public Force {
public:
    MobilityLinearStop(GeneralForceSubsystem&    forces, 
                       const MobilizedBody&      mobod, 
                       MobilizerQIndex           whichQ, 
                       Real                      defaultStiffness,
                       Real                      defaultDissipation,
                       Real                      defaultQLow =-Infinity,
                       Real                      defaultQHigh= Infinity);
    
    MobilityLinearStop() {}

    MobilityLinearStop& setDefaultBounds(Real defaultQLow, Real defaultQHigh);


    MobilityLinearStop& setDefaultMaterialProperties
                            (Real defaultStiffness, Real defaultDissipation);

    Real getDefaultLowerBound() const;

    Real getDefaultUpperBound() const;

    Real getDefaultStiffness() const;

    Real getDefaultDissipation() const;

    void setBounds(State& state, Real qLow, Real qHigh) const;

    void setMaterialProperties
                        (State& state, Real stiffness, Real dissipation) const;

    Real getLowerBound(const State& state) const;

    Real getUpperBound(const State& state) const;

    Real getStiffness(const State& state) const;

    Real getDissipation(const State& state) const;

    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(MobilityLinearStop, 
                                             MobilityLinearStopImpl, Force);
};



} // namespace SimTK

#endif // SimTK_SIMBODY_FORCE_MOBILITY_LINEAR_STOP_H_