mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

frame_2s.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 _FRAME_2S_H__
21 #define _FRAME_2S_H__
22
23 #include "mbsim/frames/frame.h"
24
25 namespace MBSimFlexibleBody {
26
27 class Frame2s : public MBSim::Frame {
28
29 public:
30 Frame2s(const std::string &name = "dummy", const fmatvec::Vec2 &s_ = fmatvec::Vec2()) : Frame(name), s(s_) { }
31
32 void setParameters(const fmatvec::Vec2 &s_) { s = s_; }
33 const fmatvec::Vec2& getParameters() const { return s; }
34
35 void updatePositions() override;
36 void updateVelocities() override;
37 void updateAccelerations() override;
38 void updateJacobians(int j=0) override;
39 void updateGyroscopicAccelerations() override;
40
41 void initializeUsingXML(xercesc::DOMElement *element) override;
42
43 protected:
44 fmatvec::Vec2 s;
45 };
46
47 }
48
49 #endif
MBSim::Element::name
std::string name
MBSimFlexibleBody::Frame2s
Definition: frame_2s.h:27
MBSim::Frame
MBSim::Frame::Frame
Frame(const std::string &name="dummy")