MobilizedBody_Gimbal.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_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: Michael Sherman                                                   *
 * Contributors: Paul Mitiguy, Peter Eastman                                  *
 *                                                                            *
 * 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::Gimbal : public MobilizedBody {
public:
    Gimbal() {}

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

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

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

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

    Gimbal& setDefaultRotation(const Rotation& R_FM) 
    {   return setDefaultQ(R_FM.convertRotationToBodyFixedXYZ()); }

    Rotation getDefaultRotation() const {
        const Vec3& q = getDefaultQ();
        return Rotation(BodyRotationSequence,
            q[0], XAxis, q[1], YAxis, q[2], ZAxis);
    }

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

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

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


    Gimbal& setDefaultRadius(Real r);
    Real getDefaultRadius() const;

    const Vec3& getDefaultQ() const; // X,Y,Z body-fixed Euler angles
    Gimbal& setDefaultQ(const Vec3& q);

    const Vec3& getQ(const State& state) const;
    const Vec3& getQDot(const State& state) const;
    const Vec3& getQDotDot(const State& state) const;

    const Vec3& getU(const State& state) const;
    const Vec3& getUDot(const State& state) const;

    void setQ(State& state, const Vec3& q) const;
    void setU(State& state, const Vec3& u) const;

    const Vec3& getMyPartQ(const State& state, const Vector& qlike) const;
    const Vec3& getMyPartU(const State& state, const Vector& ulike) const;
   
    Vec3& updMyPartQ(const State& state, Vector& qlike) const;
    Vec3& updMyPartU(const State& state, Vector& ulike) const; // Hide from Doxygen.
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Gimbal, GimbalImpl, MobilizedBody);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_GIMBAL_H_