mbsim 4.0.0 MBSim Kernel

dual_rigid_body_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@gmail.com
18 */
19
20 #ifndef _DUAL_RIGID_BODY_LINK_H_
21 #define _DUAL_RIGID_BODY_LINK_H_
22
23 #include "mbsim/links/rigid_body_link.h"
24
25 namespace MBSim {
26
27 class DualRigidBodyLink : public RigidBodyLink {
28 public:
29 DualRigidBodyLink(const std::string &name="") : RigidBodyLink(name) { }
30
31 void connect(RigidBody *body);
32 void connect(RigidBody *body1, RigidBody *body2);
33
34 void init(InitStage stage, const InitConfigSet &config) override;
35
36 void initializeUsingXML(xercesc::DOMElement * element) override;
37
38 private:
39 std::string saved_ref, saved_ref1, saved_ref2;
40 };
41
42 }
43
44 #endif
MBSim::DualRigidBodyLink
Definition: dual_rigid_body_link.h:27
MBSim::DualRigidBodyLink::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: dual_rigid_body_link.cc:31
MBSim::RigidBodyLink
Definition: rigid_body_link.h:30
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::RigidBody
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:50
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30