mbsim 4.0.0 MBSim Kernel

generalized_dual_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_DUAL_CONSTRAINT_H
20 #define _GENERALIZED_DUAL_CONSTRAINT_H
21
22 #include "generalized_constraint.h"
23
24 namespace MBSim {
25
26 class RigidBody;
27
32 class GeneralizedDualConstraint : public GeneralizedConstraint {
33 public:
34 GeneralizedDualConstraint(const std::string &name) : GeneralizedConstraint(name), bd(nullptr), bi(nullptr) { }
35
36 void init(InitStage stage, const InitConfigSet &config) override;
37
38 void setDependentRigidBody(RigidBody* body_) { bd=body_; }
39 void setIndependentRigidBody(RigidBody* body_) { bi=body_; }
40
41 void initializeUsingXML(xercesc::DOMElement * element) override;
42
43 protected:
44 RigidBody *bd, *bi;
45
46 std::string saved_IndependentBody, saved_DependentBody;
47 };
48
49 }
50
51 #endif
MBSim::GeneralizedDualConstraint::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_dual_constraint.cc:30
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::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::GeneralizedConstraint
Class for generalized constraints.
Definition: generalized_constraint.h:30
MBSim::RigidBody
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:50
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30