mbsim 4.0.0 MBSim Kernel

translation_along_axes_xy.h
1 /* Copyright (C) 2004-2009 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 _TRANSLATION_ALONG_AXES_XY_H_
21 #define _TRANSLATION_ALONG_AXES_XY_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
27 template<typename Arg>
28 class TranslationAlongAxesXY : public Function<fmatvec::Vec3(Arg)> {
29 using B = fmatvec::Function<fmatvec::Vec3(Arg)>;
30 private:
31 fmatvec::Vec3 r;
32 fmatvec::Mat3xV A;
33 public:
34 TranslationAlongAxesXY() : A(2) { A.e(0,0) = 1; A.e(1,1) = 1; }
35 int getArgSize() const override { return 2; }
36 fmatvec::Vec3 operator()(const Arg &q) override {
37 r.e(0) = q.e(0);
38 r.e(1) = q.e(1);
39 return r;
40 }
41 typename B::DRetDArg parDer(const Arg &arg) override { return A; }
42 typename B::DRetDArg parDerDirDer(const Arg &arg1Dir, const Arg &arg1) override { return typename B::DRetDArg(A.cols()); }
43 bool constParDer() const override { return true; }
44 };
45
46 }
47
48 #endif
MBSim::TranslationAlongAxesXY
Definition: translation_along_axes_xy.h:28
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30