Go to the documentation of this file. 1 #ifndef SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
2 #define SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
88 Real getDefaultRadius()
const;
96 const Vec4& getQDotDot(
const State&)
const;
117 #endif // SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
Ball()
Default constructor provides an empty handle that can be assigned to reference any MobilizedBody::Bal...
Definition: MobilizedBody_Ball.h:48
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
Ball & setDefaultRotation(const Rotation &R_FM)
Definition: MobilizedBody_Ball.h:81
Ball & setDefaultInboardFrame(const Transform &X_PF)
Definition: MobilizedBody_Ball.h:72
Rotation getDefaultRotation() const
Definition: MobilizedBody_Ball.h:84
Ball & addBodyDecoration(const Transform &X_BD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:62
This is a System that represents the dynamics of a particle moving along a smooth surface.
Definition: Assembler.h:37
Ball & addInboardDecoration(const Transform &X_FD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:68
int addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &geometry)
Add decorative geometry specified relative to the outboard mobilizer frame M attached to body B,...
Ball & setDefaultOutboardFrame(const Transform &X_BM)
Definition: MobilizedBody_Ball.h:76
This is a fixed-length column vector designed for no-overhead inline computation.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:618
Rotation_< Real > Rotation
Definition: Rotation.h:47
QuaternionP convertRotationToQuaternion() const
Converts rotation matrix to an equivalent quaternion in canonical form (meaning its scalar element is...
Ball & addOutboardDecoration(const Transform &X_MD, const DecorativeGeometry &g)
Definition: MobilizedBody_Ball.h:65
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
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
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
MobilizedBody & setDefaultOutboardFrame(const Transform &X_BM)
Change this mobilizer's frame M fixed on this (the outboard) body B.
Three mobilities – unrestricted orientation modeled with a quaternion which is never singular.
Definition: MobilizedBody_Ball.h:44
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
A Quaternion is a Vec4 with the following behavior:
Definition: Quaternion.h:41