mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

floating_relative_flexible_contour_frame.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 _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__
21 #define _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__
22
23 #include "mbsim/frames/floating_relative_contour_frame.h"
24 #include "mbsim/frames/fixed_contour_frame.h"
25
26 namespace MBSim {
27 class Contour;
28 }
29
30 namespace MBSimFlexibleBody {
31
36 class FloatingRelativeFlexibleContourFrame : public MBSim::FloatingRelativeContourFrame {
37
38 public:
39 FloatingRelativeFlexibleContourFrame(const std::string &name = "dummy", MBSim::Contour *contour = nullptr);
40
41 void init(InitStage stage_, const MBSim::InitConfigSet &config) override;
42
43 void updatePositions() override;
44 void updateVelocities() override;
45 void updateAccelerations() override;
46 void updateJacobians(int j=0) override;
47 void updateGyroscopicAccelerations() override;
48
49 void resetUpToDate() override;
50
51 protected:
52 MBSim::FixedContourFrame P;
53
54 };
55
56 }
57
58 #endif
MBSim::FloatingRelativeContourFrame
MBSim::Contour
MBSimFlexibleBody::FloatingRelativeFlexibleContourFrame
tbd
Definition: floating_relative_flexible_contour_frame.h:36
MBSim::Element::InitStage
InitStage
MBSim::Element::name
std::string name
MBSim::FixedContourFrame