SimTK::MobilizedBody::Ground Class Reference

This is a special type of "mobilized" body generated automatically by Simbody as a placeholder for Ground in the 0th slot for a SimbodyMatterSubsystem's mobilized bodies; don't create this yourself. More...

#include <MobilizedBody_Ground.h>

Inheritance diagram for SimTK::MobilizedBody::Ground:

List of all members.

Public Member Functions
	Ground ()
Ground &	addBodyDecoration (const Transform &X_GD, const DecorativeGeometry &artwork)
	Add some artwork to Ground where the Visualizer can find it.

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Detailed Description

This is a special type of "mobilized" body generated automatically by Simbody as a placeholder for Ground in the 0th slot for a SimbodyMatterSubsystem's mobilized bodies; don't create this yourself.

The body type will also be Ground. You can think of this as a Weld-like mobilizer that connects the Ground body to the world, located at the Ground origin. The reaction force in this mobilizer represents the total torque and force applied by the System to Ground. This mobilizer is not available for users -- if you want to weld something to Ground use MobilizedBody::Weld instead.

See also:

MobilizedBody::Weld, SimbodyMatterSubsystem::getGround(), SimbodyMatterSubsystem::updGround()

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Constructor & Destructor Documentation

SimTK::MobilizedBody::Ground::Ground

(

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Member Function Documentation

Ground& SimTK::MobilizedBody::Ground::addBodyDecoration	(	const Transform &	X_GD,
		const DecorativeGeometry &	artwork
	)		[inline]

Add some artwork to Ground where the Visualizer can find it.

Reimplemented from SimTK::MobilizedBody.

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

• MobilizedBody_Ground.h