mbsim 4.0.0 MBSim Kernel

generalized_elastic_structure.h
1 /* Copyright (C) 2004-2017 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_ELASTIC_STRUCTURE_H_
21 #define _GENERALIZED_ELASTIC_STRUCTURE_H_
22
23 #include "mbsim/links/rigid_body_link.h"
24 #include "mbsim/functions/function.h"
25
26 namespace MBSim {
27
28 class GeneralizedElasticStructure : public RigidBodyLink {
29 protected:
30 Function<fmatvec::VecV(fmatvec::VecV,fmatvec::VecV)> *func;
31 std::vector<fmatvec::RangeV> ila;
32 std::vector<std::string> saved_body;
33 public:
34 GeneralizedElasticStructure(const std::string &name="") : RigidBodyLink(name) { }
35 ~GeneralizedElasticStructure() override;
36 void updateGeneralizedForces() override;
37 void updateGeneralizedPositions() override;
38 void updateGeneralizedVelocities() override;
39 void updateForce() override;
40 void updateMoment() override;
41 void updateR() override;
42 void updateh(int i=0) override;
43 void addRigidBody(RigidBody* body_) { body.push_back(body_); }
44
45 void calcSize() override;
46
47 bool isActive() const override { return true; }
48 bool gActiveChanged() override { return false; }
49 bool isSingleValued() const override { return true; }
50 void init(InitStage stage, const InitConfigSet &config) override;
51
52 void setGeneralizedForceFunction(Function<fmatvec::VecV(fmatvec::VecV,fmatvec::VecV)> *func_) {
53 func=func_;
54 func->setParent(this);
55 func->setName("GeneralizedForce");
56 }
57
58 void initializeUsingXML(xercesc::DOMElement * element) override;
59 };
60
61 }
62
63 #endif
MBSim::GeneralizedElasticStructure::isActive
bool isActive() const override
Definition: generalized_elastic_structure.h:47
MBSim::GeneralizedElasticStructure::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_elastic_structure.h:49
MBSim::GeneralizedElasticStructure
Definition: generalized_elastic_structure.h:28
MBSim::GeneralizedElasticStructure::gActiveChanged
bool gActiveChanged() override
Definition: generalized_elastic_structure.h:48
MBSim::GeneralizedElasticStructure::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_elastic_structure.cc:97
MBSim::RigidBodyLink
Definition: rigid_body_link.h:30
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Element::setName
void setName(const std::string &str)
Definition: element.h:115
MBSim::RigidBody
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:50
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30