mbsim 4.0.0 MBSim Kernel

translation_along_x_axis.h
1 /* Copyright (C) 2004-2009 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@gmail.com
18 */
19
20 #ifndef _TRANSLATION_ALONG_X_AXIS_H_
21 #define _TRANSLATION_ALONG_X_AXIS_H_
22
23 #include "mbsim/functions/function.h"
24 #include "mbsim/utils/utils.h"
25
26 namespace MBSim {
27
28 template<typename Arg>
29 class TranslationAlongXAxis : public Function<fmatvec::Vec3(Arg)> {
30 using B = fmatvec::Function<fmatvec::Vec3(Arg)>;
31 private:
32 fmatvec::Vec3 r, a, zero;
33 public:
34 TranslationAlongXAxis() { a.e(0) = 1; }
35 int getArgSize() const override { return 1; }
36 fmatvec::Vec3 operator()(const Arg &q) override {
37 r.e(0) = ToDouble<Arg>::cast(q);
38 return r;
39 }
40 typename B::DRetDArg parDer(const Arg &arg) override { return a; }
41 typename B::DRetDArg parDerDirDer(const Arg &arg1Dir, const Arg &arg1) override { return zero; }
42 bool constParDer() const override { return true; }
43 };
44
45 }
46
47 #endif
MBSim::TranslationAlongXAxis
Definition: translation_along_x_axis.h:29
MBSim::ToDouble
Definition: utils.h:61
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30