19 #ifndef _ISOTROPICROTATIONALSPRINGDAMPER_H_
20 #define _ISOTROPICROTATIONALSPRINGDAMPER_H_
22 #include "mbsim/link_mechanics.h"
23 #include "mbsim/frame.h"
51 virtual void updateh(
double t,
int i = 0);
52 virtual void updateg(
double t);
53 virtual void updategd(
double t);
75 void setParameters(
double c_,
double d_,
double alpha0_) {
double c
stiffness, damping, relaxed angle
Definition: isotropic_rotational_spring_damper.h:86
fmatvec::Mat momentDir
Definition: isotropic_rotational_spring_damper.h:91
Isotropic rotational spring damper force law. This class connects two frames and applies a torque whi...
Definition: isotropic_rotational_spring_damper.h:37
fmatvec::Mat Wm
global moment direction
Definition: isotropic_rotational_spring_damper.h:97
virtual bool isActive() const
Definition: isotropic_rotational_spring_damper.h:61
virtual void init(InitStage stage)
plots time series header
Definition: isotropic_rotational_spring_damper.cc:89
virtual bool isSingleValued() const
asks the link if it contains single valued force laws that contribute to the right-hand side vector h...
Definition: isotropic_rotational_spring_damper.h:67
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:290
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
general link to one or more objects
Definition: link_mechanics.h:48
virtual ~IsotropicRotationalSpringDamper()
destructor
Definition: isotropic_rotational_spring_damper.cc:35
IsotropicRotationalSpringDamper(const std::string &name)
constructor
Definition: isotropic_rotational_spring_damper.cc:31
virtual bool gActiveChanged()
Definition: isotropic_rotational_spring_damper.h:64