mbsim 4.0.0 MBSim Kernel

generalized_connection.h
1 /* Copyright (C) 2004-2016 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 _GENERALIZED_CONNECTION_H_
21 #define _GENERALIZED_CONNECTION_H_
22
23 #include "mbsim/links/dual_rigid_body_link.h"
24
25 namespace MBSim {
26
27 class GeneralizedForceLaw;
28 class GeneralizedImpactLaw;
29
30 class GeneralizedConnection : public DualRigidBodyLink {
31 friend class GeneralizedConnectionConstraint;
32 protected:
33 GeneralizedForceLaw *fl{nullptr};
34 GeneralizedImpactLaw *il{nullptr};
35 public:
36 GeneralizedConnection(const std::string &name="") : DualRigidBodyLink(name) { }
37 ~GeneralizedConnection() override;
38
39 void updateGeneralizedForces() override;
40 bool isActive() const override { return true; }
41 bool gActiveChanged() override { return false; }
42 void init(InitStage stage, const InitConfigSet &config) override;
43 bool isSetValued() const override;
44 bool isSingleValued() const override { return not(isSetValued()); }
45
46 void setGeneralizedForceLaw(GeneralizedForceLaw * fl_);
47
48 void initializeUsingXML(xercesc::DOMElement * element) override;
49 };
50
51 }
52
53 #endif
MBSim::GeneralizedForceLaw
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:34
MBSim::GeneralizedConnection::gActiveChanged
bool gActiveChanged() override
Definition: generalized_connection.h:41
MBSim::GeneralizedConnection::isSetValued
bool isSetValued() const override
asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore s...
Definition: generalized_connection.cc:40
MBSim::GeneralizedConnection::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_connection.cc:57
MBSim::GeneralizedConnection::isSingleValued
bool isSingleValued() const override
asks the link if it contains single valued force laws that contribute to the right-hand side vector h
Definition: generalized_connection.h:44
MBSim::DualRigidBodyLink
Definition: dual_rigid_body_link.h:27
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::GeneralizedConnectionConstraint
Definition: generalized_connection_constraint.h:26
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::GeneralizedConnection
Definition: generalized_connection.h:30
MBSim::GeneralizedConnection::isActive
bool isActive() const override
Definition: generalized_connection.h:40
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30