/usr/include/simbody/simbody/internal/MobilizedBody_Weld.h is in libsimbody-dev 3.5.4+dfsg-1ubuntu2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 | #ifndef SimTK_SIMBODY_MOBILIZED_BODY_WELD_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_WELD_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) 2007-13 Stanford University and the Authors. *
* Authors: Michael Sherman *
* Contributors: Paul Mitiguy, Peter Eastman *
* *
* 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. *
* -------------------------------------------------------------------------- */
/** @file
Declares the MobilizedBody::Weld class. **/
#include "simbody/internal/MobilizedBody.h"
namespace SimTK {
/** Zero mobilities. This degenerate "mobilizer" serves only to weld together
the M frame of a body to the F frame on its parent. It has no generalized
coordinates or speeds. Note that there is no "reverse" weld, because "reverse"
for a mobilizer refers to how the q's and u's are defined and there are none.
You can use this (im)mobilizer to create a composite rigid body from simpler
rigid bodies. Although the effect is as though the bodies were combined, they
are still tracked separately so per-body information remains available. You can
also get the reaction force at the weld in the usual manner. **/
class SimTK_SIMBODY_EXPORT MobilizedBody::Weld : public MobilizedBody {
public:
/** Default constructor provides an empty handle that can be assigned to
reference any %MobilizedBody::Weld. **/
Weld() {};
/** Create a %Weld mobilizer between an existing parent (inboard) body P
and a new child (outboard) body B created by copying the given \a bodyInfo
into a privately-owned Body within the constructed %MobilizedBody object.
Specify the mobilizer frames F fixed to parent P and M fixed to child B.
@see MobilizedBody for a diagram and explanation of terminology. **/
Weld(MobilizedBody& parent, const Transform& X_PF,
const Body& bodyInfo, const Transform& X_BM);
/** Abbreviated constructor you can use if the mobilizer frames are
coincident with the parent and child body frames. **/
Weld(MobilizedBody& parent, const Body& bodyInfo);
Weld& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
(void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
}
Weld& addOutboardDecoration(const Transform& X_MD, const DecorativeGeometry& g) {
(void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
}
Weld& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) {
(void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
}
Weld& setDefaultInboardFrame(const Transform& X_PF) {
(void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
}
Weld& setDefaultOutboardFrame(const Transform& X_BM) {
(void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
}
/** @cond **/ // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Weld, WeldImpl, MobilizedBody);
/** @endcond **/
};
} // namespace SimTK
#endif // SimTK_SIMBODY_MOBILIZED_BODY_WELD_H_
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