Go to the documentation of this file. 1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
85 #endif // SimTK_SIMBODY_MOBILIZED_BODY_UNIVERSAL_H_
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
Universal & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:66
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Universal & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Universal.h:70
Universal & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Universal.h:74
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
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
Universal()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Uni...
Definition: MobilizedBody_Universal.h:44
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
Universal & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:63
Universal & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Universal.h:60
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
Two mobilities – rotation about the x axis, followed by a rotation about the new y axis.
Definition: MobilizedBody_Universal.h:40