mbsim 4.0.0 MBSim Kernel

generalized_velocity_excitation.h
1 /* Copyright (C) 2004-2015 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_VELOCITY_EXCITATION_H_
21 #define _GENERALIZED_VELOCITY_EXCITATION_H_
22
23 #include "mbsim/links/generalized_kinematic_excitation.h"
24 #include "mbsim/functions/time_dependent_function.h"
25 #include "mbsim/functions/state_dependent_function.h"
26
27 namespace MBSim {
28
29 class GeneralizedVelocityExcitation : public GeneralizedKinematicExcitation {
30 friend class GeneralizedVelocityConstraint;
31 protected:
32 Function<fmatvec::VecV(fmatvec::VecV,double)> *f;
33 public:
34 GeneralizedVelocityExcitation(const std::string &name) : GeneralizedKinematicExcitation(name) { }
35
36 void calcxSize() override;
37 void init(InitStage stage, const InitConfigSet &config) override;
38
39 void updateGeneralizedPositions() override;
40 void updateGeneralizedVelocities() override;
41 void updatexd() override;
42 void updatewb() override;
43
44 void setExcitationFunction(Function<fmatvec::VecV(fmatvec::VecV,double)>* f_) {
45 f = f_;
46 f->setParent(this);
47 f->setName("Excitation");
48 }
49 void setExcitationFunction(Function<fmatvec::VecV(fmatvec::VecV)>* f_) {
50 setExcitationFunction(new StateDependentFunction<fmatvec::VecV>(f_));
51 }
52 void setExcitationFunction(Function<fmatvec::VecV(double)>* f_) {
53 setExcitationFunction(new TimeDependentFunction<fmatvec::VecV>(f_));
54 }
55 };
56
57 }
58
59 #endif
MBSim::GeneralizedVelocityExcitation::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_velocity_excitation.cc:33
MBSim::GeneralizedKinematicExcitation
Definition: generalized_kinematic_excitation.h:30
MBSim::TimeDependentFunction
Definition: time_dependent_function.h:28
MBSim::GeneralizedVelocityConstraint
Definition: generalized_velocitiy_constraint.h:28
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::GeneralizedVelocityExcitation
Definition: generalized_velocity_excitation.h:29
MBSim::StateDependentFunction
Definition: state_dependent_function.h:28
MBSim::Element::setName
void setName(const std::string &str)
Definition: element.h:115
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30