WIP: Scholz integration #1
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pepbos
commented
May 8, 2024
| cable. */ | ||
| enum class Status | ||
| { | ||
| Ok, |
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WrappingStatus::InContactWithSurface
pepbos
commented
May 8, 2024
| /** Compute the unit force vector in Ground frame that this segment exerts | ||
| on the MobilizedBody. The actual applied force can be found by multiplication with the cable tension. | ||
| The system must be realiezd to Stage::Position. */ | ||
| void calcUnitForce(const State& state, SpatialVec& unitForce_G) const; |
pepbos
commented
May 8, 2024
| that if nPoints=1, and the curve length is not zero, an exception is | ||
| thrown. | ||
| @return The number of points written. */ | ||
| int calcPoints(const State& state, std::vector<Vec3>& points_G, int nPoints = 0) const; |
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use a std::function<void(Vec3)>& sink
or use an epsilon? use will be not be happy choosing nPoints...
pepbos
commented
May 8, 2024
| belong to a valid cable path.*/ | ||
| CurveSegment( | ||
| CableSpan cable, | ||
| const MobilizedBody& mobod, |
pepbos
commented
May 8, 2024
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| //============================================================================== | ||
| // A curved cable segment on a surface that is part of a `CableSpan`. | ||
| class SimTK_SIMBODY_EXPORT CurveSegment final |
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should this be exposed at all?
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Draft PR to discuss during meeting