mbsim 4.0.0 MBSim Kernel

floating_contour_frame.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _FLOATING_CONTOUR_FRAME_H__
21 #define _FLOATING_CONTOUR_FRAME_H__
22
23 #include "mbsim/frames/contour_frame.h"
24
25 namespace MBSim {
26
27 class Contour;
28
33 class FloatingContourFrame : public ContourFrame {
34
35 public:
36 FloatingContourFrame(const std::string &name = "dummy") : ContourFrame(name) { }
37
38 void updatePositions() override;
39 void updateVelocities() override;
40 void updateAccelerations() override;
41 void updateJacobians(int j=0) override;
42 void updateGyroscopicAccelerations() override;
43
44 void setContourOfReference(Contour *contour_) { contour = contour_; }
45
46 protected:
47 Contour *contour;
48 };
49
50 }
51
52 #endif
MBSim::Contour
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::ContourFrame
Definition: contour_frame.h:27
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::FloatingContourFrame
tbd
Definition: floating_contour_frame.h:33
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30