mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

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 _NODE_FRAME_H__
21 #define _NODE_FRAME_H__
22
23 #include "mbsimFlexibleBody/frames/node_based_frame.h"
24
25 namespace MBSimFlexibleBody {
26
31 class NodeFrame : public NodeBasedFrame {
32
33 public:
34 NodeFrame(const std::string &name = "dummy", int node_ = 1) : NodeBasedFrame(name), node(node_) { }
35
36 void setNodeNumber(int node_) { node = node_; }
37 int getNodeNumber() const { return node; }
38
39 void updatePositions() override;
40 void updateVelocities() override;
41 void updateAccelerations() override;
42 void updateJacobians(int j=0) override;
43 void updateGyroscopicAccelerations() override;
44
45 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
46 void initializeUsingXML(xercesc::DOMElement *element) override;
47
48 protected:
52 int node;
53 };
54
55 }
56
57 #endif
MBSimFlexibleBody::NodeBasedFrame
node based frame
Definition: node_based_frame.h:31
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::NodeFrame::node
int node
node number
Definition: node_frame.h:52
MBSim::Element::name
std::string name
MBSimFlexibleBody::NodeFrame
cartesian frame on nodes of flexible bodies
Definition: node_frame.h:31