Go to the documentation of this file. 1 #ifndef SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
2 #define SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
34 class SimbodyMatterSubsystem;
36 class DecorationSubsystem;
37 class GeneralContactSubsystem;
59 bool hasMatterSubsystem()
const;
64 bool hasDecorationSubsystem()
const;
69 bool hasContactSubsystem()
const;
74 const Real calcPotentialEnergy(
const State&)
const;
77 const Real calcKineticEnergy(
const State&)
const;
81 return calcPotentialEnergy(s)+calcKineticEnergy(s);
104 class MultibodySystemRep& updRep();
105 const MultibodySystemRep& getRep()
const;
113 #endif // SimTK_SIMBODY_MULTIBODY_SYSTEM_H_
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
This is the client-side handle class encapsulating the hidden implementation of the DecorationSubsyst...
Definition: DecorationSubsystem.h:54
Real calcEnergy(const State &s) const
Calculate the total energy of the system.
Definition: MultibodySystem.h:80
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
This subsystem contains the bodies ("matter") in the multibody system, the mobilizers (joints) that d...
Definition: SimbodyMatterSubsystem.h:133
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This class is basically a glorified enumerated type, type-safe and range checked but permitting conve...
Definition: Stage.h:66
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete.
Definition: ForceSubsystem.h:36
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:606
This is the vector class intended to appear in user code for large, variable size column vectors.
Definition: BigMatrix.h:171
This is the base class that serves as the parent of all SimTK System objects; most commonly Simbody's...
Definition: System.h:97