mbsim 4.0.0 MBSim Kernel

generalized_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_CONSTRAINT_H
20 #define _GENERALIZED_CONSTRAINT_H
21
22 #include "mechanical_constraint.h"
23
24 namespace MBSim {
25
30 class GeneralizedConstraint : public MechanicalConstraint {
31 protected:
32 Frame *support;
33
34 public:
35 GeneralizedConstraint(const std::string &name) : MechanicalConstraint(name), support(nullptr) { }
36
37 void init(InitStage stage, const InitConfigSet &config) override;
38
39 virtual void setSupportFrame(Frame *frame) { support = frame; }
40
41 void initializeUsingXML(xercesc::DOMElement * element) override;
42
43 private:
44 std::string saved_DependentBody, saved_supportFrame;
45 };
46
47 }
48
49 #endif
MBSim::MechanicalConstraint
Class for mechanical constraints.
Definition: mechanical_constraint.h:32
MBSim::GeneralizedConstraint::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_constraint.cc: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::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::GeneralizedConstraint
Class for generalized constraints.
Definition: generalized_constraint.h:30
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30