mbsim 4.0.0 MBSim Kernel

generalized_gear_constraint.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 * This library is free software; you can redistribute it and/or
3 * modify it under the terms of the GNU Lesser General Public
4 * License as published by the Free Software Foundation; either
5 * version 2.1 of the License, or (at your option) any later version.
6 *
7 * This library is distributed in the hope that it will be useful,
8 * but WITHOUT ANY WARRANTY; without even the implied warranty of
9 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
10 * Lesser General Public License for more details.
11 *
12 * You should have received a copy of the GNU Lesser General Public
13 * License along with this library; if not, write to the Free Software
14 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
15 *
16 * Contact: martin.o.foerg@googlemail.com
17 */
18
19 #ifndef _GENERALIZED_GEAR_CONSTRAINT_H
20 #define _GENERALIZED_GEAR_CONSTRAINT_H
21
22 #include "mbsim/constraints/generalized_constraint.h"
23
24 namespace MBSim {
25
26 class RigidBody;
27
28 class GeneralizedGearConstraint : public GeneralizedConstraint {
29
30 public:
31 GeneralizedGearConstraint(const std::string &name="") : GeneralizedConstraint(name) { }
32
33 void init(InitStage stage, const InitConfigSet &config) override;
34
35 void setDependentRigidBody(RigidBody* body_) { bd=body_; }
36 void addIndependentRigidBody(RigidBody *body, double ratio_);
37
38 void updateGeneralizedCoordinates() override;
39 void updateGeneralizedJacobians(int j=0) override;
40 void setUpInverseKinetics() override;
41
42 void initializeUsingXML(xercesc::DOMElement * element) override;
43
44 private:
45 std::vector<RigidBody*> bi;
46 RigidBody *bd{nullptr};
47 std::vector<double> ratio;
48
49 std::string saved_DependentBody;
50 std::vector<std::string> saved_IndependentBody;
51 };
52
53 }
54
55 #endif
MBSim::GeneralizedGearConstraint::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_gear_constraint.cc:36
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::GeneralizedConstraint
Class for generalized constraints.
Definition: generalized_constraint.h:30
MBSim::GeneralizedGearConstraint
Definition: generalized_gear_constraint.h:28
MBSim::RigidBody
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:50
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30