Motion.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_MOTION_H_
#define SimTK_SIMBODY_MOTION_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) 2009-13 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 "SimTKcommon.h"
#include "simbody/internal/common.h"

namespace SimTK {

class SimbodyMatterSubsystem;
class MobilizedBody;
class Motion;
class MotionImpl;

// We only want the template instantiation to occur once. This symbol is defined 
// in the Simbody compilation unit that defines the Motion class but should not 
// be defined any other time.
#ifndef SimTK_SIMBODY_DEFINING_MOTION
    extern template class PIMPLHandle<Motion, MotionImpl, true>;
#endif


//==============================================================================
//                                 MOTION
//==============================================================================
class SimTK_SIMBODY_EXPORT Motion : public PIMPLHandle<Motion,MotionImpl,true> {
public:

enum Level {
    NoLevel      = -1,  
    Acceleration = 0,   
    Velocity     = 1,   
    Position     = 2    
};
static const char* nameOfLevel(Level);

enum Method {
    NoMethod    = -1,
    Zero        = 0, 
    Discrete    = 1, 
    Prescribed  = 2, 
    Free        = 3, 
    Fast        = 4  
};
static const char* nameOfMethod(Method);

Motion() {}

Level getLevel(const State&) const;
Method getLevelMethod(const State&) const;

//------------------------------------------------------------------------------
void disable(State& state) const;

void enable(State& state) const;

bool isDisabled(const State& state) const;

void setDisabledByDefault(bool shouldBeDisabled);

bool isDisabledByDefault() const;
//------------------------------------------------------------------------------
const MobilizedBody& getMobilizedBody() const;


void calcAllMethods(const State& s, Method& qMethod, Method& uMethod, 
                    Method& udotMethod) const;
class Steady;
class Linear;
class Sinusoid;
class Polynomial;
class Custom;

class SteadyImpl;
class LinearImpl;
class SinusoidImpl;
class PolynomialImpl;
class CustomImpl;

protected:
explicit Motion(MotionImpl* r) : HandleBase(r) { }
};


//==============================================================================
//                            MOTION :: SINUSOID
//==============================================================================
class SimTK_SIMBODY_EXPORT Motion::Sinusoid : public Motion {
public:
    Sinusoid(MobilizedBody& mobod, Motion::Level level,
             Real amplitude, Real rate, Real phase);
  
    Sinusoid() {}
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Sinusoid, SinusoidImpl, Motion);
};


//==============================================================================
//                            MOTION :: STEADY
//==============================================================================
class SimTK_SIMBODY_EXPORT Motion::Steady : public Motion {
public:
    Steady(MobilizedBody& mobod, Real u);

    template <int N> SimTK_SIMBODY_EXPORT 
    Steady(MobilizedBody& mobod, const Vec<N>& u); // instantiated in library
    
    Steady() {}

    Steady& setDefaultRate(Real u);
    Steady& setOneDefaultRate(MobilizerUIndex, Real u);
    template <int N> SimTK_SIMBODY_EXPORT 
    Steady& setDefaultRates(const Vec<N>& u); // instantiated in library

    Real getOneDefaultRate(MobilizerUIndex ux) const;

    void setRate(State& state, Real u) const; // all axes set to u
    void setOneRate(State& state, MobilizerUIndex ux, Real u) const;

    Real getOneRate(const State& state, MobilizerUIndex ux) const;
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Steady, SteadyImpl, Motion);
};



//==============================================================================
//                            MOTION :: CUSTOM
//==============================================================================
class SimTK_SIMBODY_EXPORT Motion::Custom : public Motion {
public:
    class Implementation;

    Custom(MobilizedBody& mobod, Implementation* implementation);

    Custom() {}
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Custom, CustomImpl, Motion);
protected:
    const Implementation& getImplementation() const;
    Implementation& updImplementation();
};


//==============================================================================
//                     MOTION :: CUSTOM :: IMPLEMENTATION
//==============================================================================
class SimTK_SIMBODY_EXPORT Motion::Custom::Implementation {
public:
    virtual ~Implementation() { }

    virtual Implementation* clone() const {
        SimTK_ERRCHK_ALWAYS(!"unimplemented",
            "Motion::Custom::Implementation::clone()",
            "Concrete Implementation did not supply a clone() method, "
            "but a copy operation was attempted.");
        /*NOTREACHED*/
        return 0;
    }

    virtual Motion::Level getLevel(const State&) const = 0;

    virtual Motion::Method getLevelMethod(const State&) const {
        return Motion::Prescribed;
    }

    virtual void calcPrescribedPosition
                   (const State& s, int nq, Real* q) const;

    virtual void calcPrescribedPositionDot
                   (const State& s, int nq, Real* qdot) const;

    virtual void calcPrescribedPositionDotDot
                   (const State& s, int nq, Real* qdotdot) const;

    virtual void calcPrescribedVelocity
                   (const State& s, int nu, Real* u) const;

    virtual void calcPrescribedVelocityDot
                   (const State& s, int nu, Real* udot) const;

    virtual void calcPrescribedAcceleration
                   (const State& s, int nu, Real* udot) const;

    virtual void realizeTopology    (State&       state) const {}
    virtual void realizeModel       (State&       state) const {}
    virtual void realizeInstance    (const State& state) const {}
    virtual void realizeTime        (const State& state) const {}
    virtual void realizePosition    (const State& state) const {}
    virtual void realizeVelocity    (const State& state) const {}
    virtual void realizeDynamics    (const State& state) const {}
    virtual void realizeAcceleration(const State& state) const {}
    virtual void realizeReport      (const State& state) const {}
};


} // namespace SimTK

#endif // SimTK_SIMBODY_MOTION_H_