mbsim 4.0.0 MBSim Kernel

constraint.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 * This library is free software; you can redistribute it and/or
3 * modify it under the terms of the GNU Lesser General Public
4 * License as published by the Free Software Foundation; either
5 * version 2.1 of the License, or (at your option) any later version.
6 *
7 * This library is distributed in the hope that it will be useful,
8 * but WITHOUT ANY WARRANTY; without even the implied warranty of
9 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
10 * Lesser General Public License for more details.
11 *
12 * You should have received a copy of the GNU Lesser General Public
13 * License along with this library; if not, write to the Free Software
14 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
15 *
16 * Contact: martin.o.foerg@googlemail.com
17 */
18
19 #ifndef _CONSTRAINT_H
20 #define _CONSTRAINT_H
21
22 #include "mbsim/element.h"
23
24 namespace MBSim {
25
30 class Constraint : public Element {
31 public:
32 Constraint(const std::string &name);
33 virtual void updateGeneralizedCoordinates() {}
34 virtual void updateGeneralizedJacobians(int j=0) { }
35 virtual void updatedx();
36 virtual void updatexd() { }
37 virtual void calcxSize() { xSize = 0; }
38 const fmatvec::Vec& getx() const { return x; }
39 fmatvec::Vec& getx() { return x; }
40 int getxInd() { return xInd; }
41 virtual void setxInd(int xInd_) { xInd = xInd_; };
42 int getxSize() const { return xSize; }
43 int getisInd() { return isInd; }
44 virtual void setisInd(int isInd_) { isInd = isInd_; }
45 int getisSize() { return isSize; }
46 virtual void updatexRef(fmatvec::Vec& xParent);
47 virtual void updatexdRef(fmatvec::Vec& xdParent);
48 virtual void updatedxRef(fmatvec::Vec& dxParent);
49 virtual void calcisSize() { isSize = 0; }
50
56 virtual void aboutToUpdateInternalState() {}
57
58 virtual void postprocessing() {}
59
60 virtual void initz();
61 virtual void writez(H5::GroupBase *group);
62 virtual void readz0(H5::GroupBase *group);
63 virtual void setUpInverseKinetics() { }
64 std::shared_ptr<OpenMBV::Group> getOpenMBVGrp() override {return std::shared_ptr<OpenMBV::Group>();}
65 bool getUpdateGeneralizedCoordinates() const { return updGC; }
66 bool getUpdateGeneralizedJacobians() const { return updGJ; }
67 virtual void updateInternalStateRef(fmatvec::Vec& cur, fmatvec::Vec& next);
68 void resetUpToDate() override { updGC = true; updGJ = true; }
69
70 const fmatvec::Vec& evalxd();
71
72 void createPlotGroup() override;
73
74 protected:
78 fmatvec::Vec x;
79
83 fmatvec::Vec xd;
84
85 fmatvec::Vec dx;
86
90 fmatvec::Vec x0;
91
92 fmatvec::Vec curis, nextis;
93
97 int xSize, xInd;
98 int isSize, isInd;
99 bool updGC, updGJ;
100 };
101
102 }
103
104 #endif
MBSim::Constraint::xSize
int xSize
size and local index of order one parameters
Definition: constraint.h:97
MBSim::Constraint::createPlotGroup
void createPlotGroup() override
creates the plotGroup for H5-output
Definition: constraint.cc:78
MBSim::Element
basic class of MBSim mainly for plotting
Definition: element.h:56
MBSim::Constraint::xd
fmatvec::Vec xd
differentiated order one parameters
Definition: constraint.h:83
H5::GroupBase
MBSim::Constraint::x
fmatvec::Vec x
order one parameters
Definition: constraint.h:78
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Constraint
Class for constraints between generalized coordinates of objects.
Definition: constraint.h:30
MBSim::Constraint::x0
fmatvec::Vec x0
order one initial value
Definition: constraint.h:90
MBSim::Constraint::aboutToUpdateInternalState
virtual void aboutToUpdateInternalState()
Definition: constraint.h:56
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30