mbsim 4.0.0 MBSim Kernel

linear_translation.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 _LINEAR_TRANSLATION_H_
21 #define _LINEAR_TRANSLATION_H_
22
23 #include "mbsim/functions/function.h"
24 #include "mbsim/utils/utils.h"
25
26 namespace MBSim {
27
28 template<class Arg>
29 class LinearTranslation : public Function<fmatvec::Vec3(Arg)> {
30 using B = fmatvec::Function<fmatvec::Vec3(Arg)>;
31 private:
32 typename B::DRetDArg A;
33 fmatvec::Vec3 b;
34 fmatvec::Vec3 zeros(const typename B::DRetDArg &x) { return fmatvec::Vec3(x.rows()); }
35 public:
36 LinearTranslation() = default;
37 LinearTranslation(const typename B::DRetDArg &A_) : A(A_) { }
38 LinearTranslation(const typename B::DRetDArg &A_, const fmatvec::Vec3 &b_) : A(A_), b(b_) { }
39 void setTranslationVectors(const typename B::DRetDArg &A_) { A <<= A_; }
40 void setOffset(const fmatvec::Vec3 &b_) { b <<= b_; }
41 int getArgSize() const override { return A.cols(); }
42 fmatvec::Vec3 operator()(const Arg &arg) override { return A*arg+b; }
43 typename B::DRetDArg parDer(const Arg &arg) override { return A; }
44 typename B::DRetDArg parDerDirDer(const Arg &arg1Dir, const Arg &arg1) override { return typename B::DRetDArg(A.cols()); }
45 bool constParDer() const override { return true; }
46 void initializeUsingXML(xercesc::DOMElement *element) override {
47 xercesc::DOMElement *e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"translationVectors");
48 setTranslationVectors(MBXMLUtils::E(e)->getText<typename B::DRetDArg>());
49 e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"offset");
50 if(e) setOffset(MBXMLUtils::E(e)->getText<fmatvec::Vec3>());
51 }
52 };
53
54 }
55
56 #endif
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::LinearTranslation
Definition: linear_translation.h:29
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30