mbsim 4.0.0 MBSim Kernel

generalized_connection_constraint.h
1 /* Copyright (C) 2004-2016 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_CONNECTION_CONSTRAINT_H
20 #define _GENERALIZED_CONNECTION_CONSTRAINT_H
21
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23
24 namespace MBSim {
25
26 class GeneralizedConnectionConstraint : public GeneralizedDualConstraint {
27
28 public:
29 GeneralizedConnectionConstraint(const std::string &name="") : GeneralizedDualConstraint(name) { }
30
31 void init(Element::InitStage stage, const InitConfigSet &config) override;
32
33 void updateGeneralizedCoordinates() override;
34 void updateGeneralizedJacobians(int j=0) override;
35 void setUpInverseKinetics() override;
36 };
37
38 }
39
40 #endif
MBSim::GeneralizedDualConstraint
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::GeneralizedConnectionConstraint
Definition: generalized_connection_constraint.h:26
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::GeneralizedConnectionConstraint::init
void init(Element::InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_connection_constraint.cc:38
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30