/* Copyright (C) 2004-2016 MBSim Development Team
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@googlemail.com
 */

#ifndef _GENERALIZED_CONNECTION_CONSTRAINT_H
#define _GENERALIZED_CONNECTION_CONSTRAINT_H

#include "mbsim/constraints/generalized_dual_constraint.h"

namespace MBSim {

  class GeneralizedConnectionConstraint : public GeneralizedDualConstraint {

    public:
      GeneralizedConnectionConstraint(const std::string &name="") : GeneralizedDualConstraint(name) { }

      void init(Element::InitStage stage, const InitConfigSet &config) override;

      void updateGeneralizedCoordinates() override;
      void updateGeneralizedJacobians(int j=0) override;
      void setUpInverseKinetics() override;
  };

}

#endif
