MobilizedBody_Bushing.h

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#ifndef SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_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) 2012-13 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 "simbody/internal/MobilizedBody.h"

namespace SimTK {

class SimTK_SIMBODY_EXPORT MobilizedBody::Bushing : public MobilizedBody {
public:
    Bushing() {}

    Bushing(MobilizedBody& parent, const Transform& X_PF,
           const Body& bodyInfo,  const Transform& X_BM, Direction=Forward);

    Bushing(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);

    Bushing& setDefaultInboardFrame(const Transform& X_PF) 
    {   (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this; }

    Bushing& setDefaultOutboardFrame(const Transform& X_BM) 
    {   (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this; }

    Bushing& setDefaultTransform(const Transform& X_FM) 
    {   Vec6 q;
        q.updSubVec<3>(0) = X_FM.R().convertRotationToBodyFixedXYZ();
        q.updSubVec<3>(3) = X_FM.p();      
        return setDefaultQ(q); }

    Transform getDefaultTransform() const {
        const Vec6& q = getDefaultQ();
        return Transform(Rotation(BodyRotationSequence,
                                  q[0], XAxis, q[1], YAxis, q[2], ZAxis),
                         q.getSubVec<3>(3));
    }

    Bushing& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) 
    {   (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this; }

    Bushing& addOutboardDecoration(const Transform& X_MD, const DecorativeGeometry& g) 
    {   (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this; }

    Bushing& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) 
    {   (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this; }

    const Vec6& getDefaultQ() const;
    Bushing& setDefaultQ(const Vec6& q);

    const Vec6& getQ(const State& state) const;
    const Vec6& getQDot(const State& state) const;
    const Vec6& getQDotDot(const State& state) const;

    const Vec6& getU(const State& state) const;
    const Vec6& getUDot(const State& state) const;

    void setQ(State& state, const Vec6& q) const;
    void setU(State& state, const Vec6& u) const;

    const Vec6& getMyPartQ(const State& state, const Vector& qlike) const;
    const Vec6& getMyPartU(const State& state, const Vector& ulike) const;
   
    Vec6& updMyPartQ(const State& state, Vector& qlike) const;
    Vec6& updMyPartU(const State& state, Vector& ulike) const; // Hide from Doxygen.
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Bushing, BushingImpl, MobilizedBody);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_BUSHING_H_