Description
This class is a thin wrapper to Simbody's SimTK::Motion for prescribing the acceleration of all degrees of freedom (UDot), and is used when enforcing dynamics using implicit differential equations (UDot is supplied by the solver, not by Simbody).
This component adds discrete variables for holding onto the user-supplied UDot and passing it onto the SimTK::Motion. Then, SimbodyMatterSubsystem::findMotionForces() provides the "implicit" differential equation residual (akin to SimbodyMatterSubsystem::calcResidualForce()). By default, the prescribed motions are disabled; see setEnabled(). This prescribed motion does not add constraints to the system; rather, this class removes degrees of freedom. This class is not intended for use outside of Moco. The wrapper to OpenSim is necessary so that the discrete variables appear in the State whenever initSystem() is called on a model.
#include <Moco/Moco/Components/AccelerationMotion.h>
Public Member Functions | |
| AccelerationMotion (std::string name) | |
| void | setUDot (SimTK::State &state, const SimTK::Vector &fullUDot) const |
| Set the UDot vector. The vector must have size SimTK::State::getNU(). | |
| const SimTK::Vector & | getUDot (const SimTK::State &state, SimTK::MobilizedBodyIndex mobodIdx) const |
| Get the subset of UDots for the requested MobilizedBody. | |
| void | setEnabled (SimTK::State &state, bool enabled) const |
| Use this to set whether the prescribed acceleration motion is used or not. More... | |
Member Function Documentation
◆ setEnabled()
| void OpenSim::AccelerationMotion::setEnabled | ( | SimTK::State & | state, |
| bool | enabled | ||
| ) | const |
Use this to set whether the prescribed acceleration motion is used or not.
The documentation for this class was generated from the following file: