MobilizedBody_SphericalCoords.h

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#ifndef SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_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: Christopher Bruns                                            *
 *                                                                            *
 * 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::SphericalCoords : public MobilizedBody {
public:
    SphericalCoords() {}

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

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


    SphericalCoords(MobilizedBody& parent,      const Transform& X_PF,
                    const Body& bodyInfo,       const Transform& X_BM,
                    Real azimuthOffset,         bool azimuthNegated,
                    Real zenithOffset,          bool zenithNegated,
                    CoordinateAxis radialAxis,  bool radialNegated,
                    Direction=Forward);

    SphericalCoords& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
    }
    SphericalCoords& addOutboardDecoration(const Transform& X_MD,  const DecorativeGeometry& g) {
        (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
    }
    SphericalCoords& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
    }

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

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

    // Friendly, mobilizer-specific access to coordinates and speeds.
    SphericalCoords& setDefaultAngles(const Vec2& a) {
        Vec3 q = getDefaultQ(); q.updSubVec<2>(0) = a; setDefaultQ(q);
        return *this;
    }
    SphericalCoords& setDefaultRadius(Real r) {
        Vec3 q = getDefaultQ(); q[2] = r; setDefaultQ(q);
        return *this;
    }
    SphericalCoords& setRadialAxis(CoordinateAxis);
    SphericalCoords& setNegateAzimuth(bool);
    SphericalCoords& setNegateZenith(bool);
    SphericalCoords& setNegateRadial(bool);

    const Vec2&    getDefaultAngles()      const {return getDefaultQ().getSubVec<2>(0);}
    Real           getDefaultTranslation() const {return getDefaultQ()[2];}
    
    CoordinateAxis getRadialAxis()    const;
    bool           isAzimuthNegated() const;
    bool           isZenithNegated()  const;
    bool           isRadialNegated()  const;

    void setAngles(State& s, const Vec2& a) {setOneQ(s,0,a[0]); setOneQ(s,1,a[1]);}
    void setRadius(State& s, Real        r) {setOneQ(s,2,r);}

    const Vec2& getAngles(const State& s) const {return getQ(s).getSubVec<2>(0);}
    Real        getRadius(const State& s) const {return getQ(s)[2];}

    // Generic default state Topology methods.
    const Vec3& getDefaultQ() const;
    SphericalCoords& setDefaultQ(const Vec3& q);

    const Vec3& getQ(const State&) const;
    const Vec3& getQDot(const State&) const;
    const Vec3& getQDotDot(const State&) const;
    const Vec3& getU(const State&) const;
    const Vec3& getUDot(const State&) const;

    void setQ(State&, const Vec3&) const;
    void setU(State&, const Vec3&) const;

    const Vec3& getMyPartQ(const State&, const Vector& qlike) const;
    const Vec3& getMyPartU(const State&, const Vector& ulike) const;
   
    Vec3& updMyPartQ(const State&, Vector& qlike) const;
    Vec3& updMyPartU(const State&, Vector& ulike) const;
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(SphericalCoords, 
                                             SphericalCoordsImpl, MobilizedBody);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_SPHERICALCOORDS_H_