MobilizedBody_FunctionBased.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_MOBILIZED_BODY_FUNCTIONBASED_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_FUNCTIONBASED_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) 2007-13 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors: Ajay Seth                                                    *
 *                                                                            *
 * 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"
#include "simbody/internal/MobilizedBody_Custom.h"

namespace SimTK {

class SimTK_SIMBODY_EXPORT MobilizedBody::FunctionBased 
:   public MobilizedBody::Custom {
public:
    FunctionBased() {}

    FunctionBased(MobilizedBody& parent, const Body& bodyInfo, 
                  int nmobilities, const Array_<const Function*>& functions,
                  const Array_<Array_<int> >& coordIndices,
                  Direction direction=Forward);

    FunctionBased(MobilizedBody& parent, const Body& bodyInfo, 
                  int nmobilities, const std::vector<const Function*>& functions,
                  const std::vector<std::vector<int> >& coordIndices,
                  Direction direction=Forward) 
    {
        Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
        // Use the above constructor.
        new(this) FunctionBased(parent,bodyInfo,nmobilities,
                                ArrayViewConst_<const Function*>(functions), 
                                coordCopy, direction);
    }

    FunctionBased(MobilizedBody& parent, const Transform& X_PF, 
                  const Body& bodyInfo, const Transform& X_BM, 
                  int nmobilities, const Array_<const Function*>& functions,
                  const Array_<Array_<int> >& coordIndices,
                  Direction direction=Forward);

    FunctionBased(MobilizedBody& parent, const Transform& X_PF, 
                  const Body& bodyInfo, const Transform& X_BM, 
                  int nmobilities, const std::vector<const Function*>& functions,
                  const std::vector<std::vector<int> >& coordIndices,
                  Direction direction=Forward)
    {
        Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
        // Use the above constructor.
        new(this) FunctionBased(parent,X_PF,bodyInfo,X_BM,
                                nmobilities, ArrayViewConst_<const Function*>(functions), 
                                coordCopy, direction);
    }

    FunctionBased(MobilizedBody& parent, const Body& bodyInfo, 
                  int nmobilities, const Array_<const Function*>& functions,
                  const Array_<Array_<int> >& coordIndices, const Array_<Vec3>& axes,
                  Direction direction=Forward);

    FunctionBased(MobilizedBody& parent, const Body& bodyInfo, 
                  int nmobilities, const std::vector<const Function*>& functions,
                  const std::vector<std::vector<int> >& coordIndices, const std::vector<Vec3>& axes,
                  Direction direction=Forward)
    {
        Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
        // Use the above constructor.
        new(this) FunctionBased(parent,bodyInfo,
                                nmobilities, ArrayViewConst_<const Function*>(functions), 
                                coordCopy, ArrayViewConst_<Vec3>(axes), 
                                direction);
    }

    FunctionBased(MobilizedBody& parent, const Transform& X_PF, 
                  const Body& bodyInfo, const Transform& X_BM, 
                  int nmobilities, const Array_<const Function*>& functions,
                  const Array_<Array_<int> >& coordIndices, const Array_<Vec3>& axes,
                  Direction direction=Forward);

    FunctionBased(MobilizedBody& parent, const Transform& X_PF, 
                  const Body& bodyInfo, const Transform& X_BM,
                  int nmobilities, const std::vector<const Function*>& functions,
                  const std::vector<std::vector<int> >& coordIndices, const std::vector<Vec3>& axes,
                  Direction direction=Forward)
    {
        Array_< Array_<int> > coordCopy(coordIndices); // sorry, must copy
        // Use the above constructor.
        new(this) FunctionBased(parent,X_PF,bodyInfo,X_BM,
                                nmobilities, ArrayViewConst_<const Function*>(functions), 
                                coordCopy, ArrayViewConst_<Vec3>(axes), 
                                direction);
    }
};

} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_FUNCTIONBASED_H_