A linear damper that acts along or around a mobility coordinate to apply a generalized force there. More...

#include <Force_MobilityLinearDamper.h>

Inheritance diagram for SimTK::Force::MobilityLinearDamper:

Public Member Functions
	MobilityLinearDamper (GeneralForceSubsystem &forces, const MobilizedBody &mobod, MobilizerUIndex whichU, Real defaultDamping)
	Create a MobilityLinearDamper force element on a particular mobility (generalized speed).
	MobilityLinearDamper ()
	Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearDamper object.
MobilityLinearDamper &	setDefaultDamping (Real defaultDamping)
	Provide a new value for the default damping constant c of this damper.
Real	getDefaultDamping () const
	Return the default value for the damper's damping constant c.
const MobilityLinearDamper &	setDamping (State &state, Real damping) const
	Change the value of the damping constant c in the given state; this may differ from the default value supplied at construction.
Real	getDamping (const State &state) const
	Return the value for the damping constant c that is stored in the given state.
Deprecated
Methods here are for backwards compatibility but have been replaced with better ones that you should use.
	MobilityLinearDamper (GeneralForceSubsystem &forces, const MobilizedBody &mobod, int whichU, Real defaultDamping)
	Deprecated: Alternate signature for backwards compatibilty -- for safety you should prefer using the other constructor signature that takes a MobilizerUIndex rather than a plain int.

Detailed Description

A linear damper that acts along or around a mobility coordinate to apply a generalized force there.

The damping constant c is provided, with the generated force being -c*u where u is the mobility's generalized speed. This is meaningful on any mobility, since all our generalized speeds have physical meaning. This is not a potential force and hence does not contribute to potential energy.

Constructor & Destructor Documentation

SimTK::Force::MobilityLinearDamper::MobilityLinearDamper	(	GeneralForceSubsystem &	forces,
		const MobilizedBody &	mobod,
		MobilizerUIndex	whichU,
		Real	defaultDamping
	)

Create a MobilityLinearDamper force element on a particular mobility (generalized speed).

Parameters:

[in,out]	forces	The subsystem to which this force should be added.
[in]	mobod	Mobilizer to which the force should be applied.
[in]	whichU	To which of the mobilizer's mobilities (generalized speeds) u should this force be applied (first is 0)?
[in]	defaultDamping	The default value for the damping constant c.

SimTK::Force::MobilityLinearDamper::MobilityLinearDamper ( ) [inline]

Default constructor creates an empty handle that can be assigned to refer to any MobilityLinearDamper object.

SimTK::Force::MobilityLinearDamper::MobilityLinearDamper	(	GeneralForceSubsystem &	forces,
		const MobilizedBody &	mobod,
		int	whichU,
		Real	defaultDamping
	)		`[inline]`

Deprecated: Alternate signature for backwards compatibilty -- for safety you should prefer using the other constructor signature that takes a MobilizerUIndex rather than a plain int.

Member Function Documentation

MobilityLinearDamper& SimTK::Force::MobilityLinearDamper::setDefaultDamping ( Real defaultDamping )

Provide a new value for the default damping constant c of this damper.

This is a topological change because it affects the value that the containing System's default state will have when realizeTopology() is called. This is for use during construction, not for during a simulation where you should be using setDamping() to set the damping constant in a State rather than in the System.

Parameters:

[in] defaultDamping The default value for the damping constant c.

Returns:: A writable reference to this modified force element for convenience in chaining set methods.

See also:: getDefaultDamping(), setDamping()

Real SimTK::Force::MobilityLinearDamper::getDefaultDamping ( ) const

Return the default value for the damper's damping constant c.

This is normally set at construction but can be modified with setDefaultDamping().

See also:: setDefaultDamping(), getDamping()

const MobilityLinearDamper& SimTK::Force::MobilityLinearDamper::setDamping	(	State &	state,
		Real	damping
	)		const

Change the value of the damping constant c in the given state; this may differ from the default value supplied at construction.

Parameters:

[in,out]	state	The State in which the damping constant is to be changed.
[in]	damping	The new damping constant c (>= 0) that overrides the default.

Returns:: A const reference to this MobilityLinearDamper element for convenience in chaining set methods together.

Changing the damping constant invalidates Stage::Dynamics and above in the state since it can affect force generation.

See also:: setDefaultDamping(), getDamping()

Real SimTK::Force::MobilityLinearDamper::getDamping ( const State & state ) const

Return the value for the damping constant c that is stored in the given state.

Note that this is not the same thing as the default damping constant that was supplied on construction or in setDefaultDamping().

See also:: setDamping(), getDefaultDamping()

The documentation for this class was generated from the following file:

Force_MobilityLinearDamper.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation