mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

interface_node_frame.h
1 /* Copyright (C) 2004-2019 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 _INTERFACE_NODE_FRAME_H__
21 #define _INTERFACE_NODE_FRAME_H__
22
23 #include "mbsimFlexibleBody/frames/node_based_frame.h"
24
25 namespace MBSimFlexibleBody {
26
31 class InterfaceNodeFrame : public NodeBasedFrame {
32
33 public:
34 InterfaceNodeFrame(const std::string &name = "dummy") : NodeBasedFrame(name) { }
35
36 void setNodeNumbers(const fmatvec::VecVI &nodes_) { nodes <<= nodes_; }
37 const fmatvec::VecVI& getNodeNumbers() const { return nodes; }
38
39 void setWeightingFactors(const fmatvec::VecV &weights_) { weights <<= weights_; }
40 const fmatvec::VecV& getWeightingFactors() const { return weights; }
41
42 void updatePositions() override;
43 void updateVelocities() override;
44 void updateAccelerations() override;
45 void updateJacobians(int j=0) override;
46 void updateGyroscopicAccelerations() override;
47
48 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
49 void initializeUsingXML(xercesc::DOMElement *element) override;
50
51 protected:
55 fmatvec::VecVI nodes;
56
60 fmatvec::VecV weights;
61
62 double sum;
63 };
64
65 }
66
67 #endif
MBSimFlexibleBody::InterfaceNodeFrame::weights
fmatvec::VecV weights
weights
Definition: interface_node_frame.h:60
MBSimFlexibleBody::InterfaceNodeFrame::nodes
fmatvec::VecVI nodes
node numbers
Definition: interface_node_frame.h:55
MBSimFlexibleBody::NodeBasedFrame
node based frame
Definition: node_based_frame.h:31
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::InterfaceNodeFrame
frame on interface nodes
Definition: interface_node_frame.h:31
MBSim::Element::name
std::string name