/* Copyright (C) 2004-2014 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 _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__
#define _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__

#include "mbsim/frames/floating_relative_contour_frame.h"
#include "mbsim/frames/fixed_contour_frame.h"

namespace MBSim {
  class Contour;
}

namespace MBSimFlexibleBody {

  /**
   * \brief tbd
   * \author Martin Foerg
   */
  class FloatingRelativeFlexibleContourFrame : public MBSim::FloatingRelativeContourFrame {

    public:
      FloatingRelativeFlexibleContourFrame(const std::string &name = "dummy", MBSim::Contour *contour = nullptr);

      void init(InitStage stage_, const MBSim::InitConfigSet &config) override;

      void updatePositions() override;
      void updateVelocities() override;
      void updateAccelerations() override;
      void updateJacobians(int j=0) override;
      void updateGyroscopicAccelerations() override;

      void resetUpToDate() override;

    protected:
      MBSim::FixedContourFrame P;

  };

}

#endif
