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MobilizedBody_Screw.h
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1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2007-13 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: Paul Mitiguy, Peter Eastman *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
30 #include "simbody/internal/MobilizedBody.h"
31 
32 namespace SimTK {
33 
39 class SimTK_SIMBODY_EXPORT MobilizedBody::Screw : public MobilizedBody {
40 public:
43  Screw() {}
44 
50  Screw(MobilizedBody& parent, const Transform& X_PF,
51  const Body& bodyInfo, const Transform& X_BM,
52  Real pitch, Direction=Forward);
53 
56  Screw(MobilizedBody& parent, const Body& bodyInfo, Real pitch,
57  Direction=Forward);
58 
59 
60  Screw& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
61  (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
62  }
63  Screw& addOutboardDecoration(const Transform& X_MD, const DecorativeGeometry& g) {
64  (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
65  }
66  Screw& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) {
67  (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
68  }
69 
70  Screw& setDefaultInboardFrame(const Transform& X_PF) {
71  (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
72  }
73 
74  Screw& setDefaultOutboardFrame(const Transform& X_BM) {
75  (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
76  }
77 
78  Screw& setDefaultPitch(Real pitch);
79  Real getDefaultPitch() const;
80 
81  Screw& setDefaultQ(Real);
82  Real getDefaultQ() const;
83 
84  Real getQ(const State&) const;
85  Real getQDot(const State&) const;
86  Real getQDotDot(const State&) const;
87  Real getU(const State&) const;
88  Real getUDot(const State&) const;
89 
90  void setQ(State&, Real) const;
91  void setU(State&, Real) const;
92 
93  Real getMyPartQ(const State&, const Vector& qlike) const;
94  Real getMyPartU(const State&, const Vector& ulike) const;
95 
96  Real& updMyPartQ(const State&, Vector& qlike) const;
97  Real& updMyPartU(const State&, Vector& ulike) const;
98  // Don't let doxygen see this
100  SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Screw, ScrewImpl, MobilizedBody);
102 };
103 
104 } // namespace SimTK
105 
106 #endif // SimTK_SIMBODY_MOBILIZED_BODY_SCREW_H_
107 
108 
109