mbsim 4.0.0 MBSim Kernel

mechanical_link.h
1 /* Copyright (C) 2004-2016 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 _MECHANICAL_LINK_H_
21 #define _MECHANICAL_LINK_H_
22
23 #include "mbsim/links/link.h"
24
25 namespace MBSim {
26
27 extern const PlotFeatureEnum force, moment;
28
33 class MechanicalLink : public Link {
34 public:
39 MechanicalLink(const std::string &name);
40
41 void resetUpToDate() override;
42
43 virtual void updatePositions() { }
44 virtual void updateVelocities() { }
45 void updateGeneralizedForces() override;
46 virtual void updateForce() { }
47 virtual void updateMoment() { }
48 virtual void updateForceDirections() { }
49 virtual void updatelaF() { }
50 virtual void updatelaM() { }
51 virtual void updateR() { }
52
53 const fmatvec::Vec3& evalForce(int i=1) { if(updF) updateForce(); return F[i]; }
54 const fmatvec::Vec3& evalMoment(int i=1) { if(updM) updateMoment(); return M[i]; }
55 const fmatvec::Mat3xV& evalRF(int i=1) { if(updRMV) updateR(); return RF[i]; }
56 const fmatvec::Mat3xV& evalRM(int i=1) { if(updRMV) updateR(); return RM[i]; }
57 const fmatvec::VecV& evallaF() { if(updlaF) updatelaF(); return lambdaF; }
58 const fmatvec::VecV& evallaM() { if(updlaM) updatelaM(); return lambdaM; }
59
60 fmatvec::Vec3& getForce(int i=1, bool check=true) { assert((not check) or (not updF)); return F[i]; }
61 fmatvec::Vec3& getMoment(int i=1, bool check=true) { assert((not check) or (not updM)); return M[i]; }
62
63 Frame* getPointOfApplication(int i) { return P[i]; }
64
65 int getNumberOfForces() { return F.size(); }
66
67 void init(InitStage stage, const InitConfigSet &config) override;
68 void plot() override;
69
70 protected:
71 std::vector<Frame*> P;
72
73 std::vector<fmatvec::Mat3xV> RF, RM;
74
75 fmatvec::VecV lambdaF, lambdaM;
76
77 std::vector<fmatvec::Vec3> F, M;
78
82 fmatvec::RangeV iF, iM;
83
84 bool updF, updM, updRMV, updlaF, updlaM;
85 };
86 }
87
88 #endif
MBSim::MechanicalLink::iF
fmatvec::RangeV iF
indices of forces and torques
Definition: mechanical_link.h:82
MBSim::Link
general link to one or more objects
Definition: link.h:48
MBSim::MechanicalLink::plot
void plot() override
plots time dependent data
Definition: mechanical_link.cc:55
MBSim::MechanicalLink::MechanicalLink
MechanicalLink(const std::string &name)
constructor
Definition: mechanical_link.cc:37
MBSim::MechanicalLink::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: mechanical_link.cc:69
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::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::MechanicalLink
mechanical link
Definition: mechanical_link.h:33
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30