23 #include "mbsim/link_mechanics.h"
24 #include "mbsim/rigid_body.h"
25 #include "mbsim/frame.h"
31 Function<double(double,double)> *func;
36 fmatvec::Vec3 WrP0Z, WrP1Z;
40 void updateh(
double,
int i=0);
41 void updateW(
double,
int i=0);
42 void updateJacobians(
double t,
int j=0);
44 void updategd(
double);
45 void updatewb(
double t,
int i=0);
48 void connect(
double r1,
Frame* frame1_,
double r2,
Frame* frame2_);
49 virtual void updatexd(
double t);
50 virtual void updatedx(
double t,
double dt);
51 virtual void calcxSize();
55 std::string
getType()
const {
return "Gearing"; }
62 void setForceFunction(Function<
double(
double,
double)> *func_) {
64 func->setParent(
this);
65 func->setName(
"Force");
67 void setReverse(
bool reverse_) { reverse = reverse_; }
69 void plot(
double t,
double dt=1);
std::string getType() const
Definition: gearing.h:55
virtual void calcgSize(int j)
calculates size of relative distances
Definition: gearing.cc:49
void init(InitStage stage)
plots time series header
Definition: gearing.cc:217
bool isSetValued() const
asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore s...
Definition: gearing.cc:134
void updatehRef(const fmatvec::Vec &hParent, int j=0)
references to complete and link smooth force vector of dynamic system parent
Definition: gearing.cc:93
bool isActive() const
Definition: gearing.h:53
bool gActiveChanged()
Definition: gearing.h:54
void updateWRef(const fmatvec::Mat &WParent, int j=0)
references to contact force direction matrix of dynamic system parent
Definition: gearing.cc:82
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
void plot(double t, double dt=1)
plots time dependent data
Definition: gearing.cc:258
virtual void calcgdSize(int j)
calculates size of gap velocities
Definition: gearing.cc:52
virtual void calclaSize(int j)
calculates size of contact force parameters
Definition: gearing.cc:46