Go to the documentation of this file. 1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
89 Free& setDefaultTranslation(
const Vec3&);
104 const Vec3& getDefaultTranslation()
const;
105 const Quaternion& getDefaultQuaternion()
const;
109 return Rotation(getDefaultQuaternion());
118 const Vec7& getDefaultQ()
const;
129 const Vec7& getQDotDot(
const State&)
const;
151 #endif // SimTK_SIMBODY_MOBILIZED_BODY_FREE_H_
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
int addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the inboard mobilizer frame F attached to the parent bo...
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
Free & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Free.h:80
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Rotation getDefaultRotation() const
Definition: MobilizedBody_Free.h:108
Free & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Free.h:84
Rotation_< Real > Rotation
Definition: Rotation.h:47
Unrestricted motion for a rigid body (six mobilities).
Definition: MobilizedBody_Free.h:52
int addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &geometry)
Convenience method to add DecorativeGeometry specified relative to the new (outboard) body's referenc...
Definition: MobilizedBody.h:1504
Free()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Fre...
Definition: MobilizedBody_Free.h:56
MobilizedBody & setDefaultInboardFrame(const Transform &X_PF)
Change this mobilizer's frame F on the parent body P.
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
Transform getDefaultTransform() const
Definition: MobilizedBody_Free.h:111
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
Direction
Constructors can take an argument of this type to indicate that the mobilizer is being defined in the...
Definition: MobilizedBody.h:181
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
Transform_< Real > Transform
Definition: Transform.h:44
Free & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:70
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41
Free & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:73
Free & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Free.h:76