20 #ifndef _LINK_MECHANICS_H_
21 #define _LINK_MECHANICS_H_
25 #ifdef HAVE_OPENMBVCPPINTERFACE
62 virtual void updatedhdz(
double t);
70 std::string
getType()
const {
return "Link"; }
71 virtual void plot(
double t,
double dt = 1);
79 virtual void updatedhdqRef(
const fmatvec::Mat& ref,
int i=0);
81 virtual void updatedhdtRef(
const fmatvec::Vec& ref,
int i=0);
86 const std::vector<Contour*> & getContour()
const {
return contour; }
93 virtual void connect(Frame *frame_);
98 virtual void connect(Contour *contour_);
100 const std::vector<Frame*>& getFrame()
const {
105 #ifdef HAVE_OPENMBVCPPINTERFACE
106 void setOpenMBVForceArrow(
const boost::shared_ptr<OpenMBV::Arrow> &arrow,
const std::vector<bool>& which);
107 void setOpenMBVMomentArrow(
const boost::shared_ptr<OpenMBV::Arrow> &arrow,
const std::vector<bool>& which);
113 std::vector<fmatvec::Vec3>
WF, WM;
118 std::vector<fmatvec::Mat3xV>
fF, fM;
130 #ifdef HAVE_OPENMBVCPPINTERFACE
131 boost::shared_ptr<OpenMBV::Group> openMBVForceGrp;
132 std::vector<boost::shared_ptr<OpenMBV::Arrow> > openMBVArrowF;
133 std::vector<boost::shared_ptr<OpenMBV::Arrow> > openMBVArrowM;
virtual void connect(Frame *frame_)
Definition: link_mechanics.cc:226
general link to one or more objects
Definition: link.h:51
virtual void updatehRef(const fmatvec::Vec &hRef, int i=0)
references to complete and link smooth force vector of dynamic system parent
Definition: link_mechanics.cc:116
std::vector< fmatvec::Mat3xV > fF
cartesian force and moment direction matrix for nonsmooth right hand side
Definition: link_mechanics.h:118
virtual ~LinkMechanics()
destructor
Definition: link_mechanics.cc:40
virtual void closePlot()
closes plot file
Definition: link_mechanics.cc:84
virtual void updateWRef(const fmatvec::Mat &ref, int i=0)
references to contact force direction matrix of dynamic system parent
Definition: link_mechanics.cc:90
std::vector< Frame * > frame
array in which all frames are listed, connecting bodies via a link
Definition: link_mechanics.h:123
virtual void init(InitStage stage)
plots time series header
Definition: link_mechanics.cc:159
virtual void updateVRef(const fmatvec::Mat &ref, int i=0)
references to condensed contact force direction matrix of dynamic system parent
Definition: link_mechanics.cc:103
virtual void updaterRef(const fmatvec::Vec &ref, int i=0)
references to nonsmooth force vector of dynamic system parent
Definition: link_mechanics.cc:146
std::string getType() const
Definition: link_mechanics.h:70
InitStage
The stages of the initialization.
Definition: element.h:97
LinkMechanics(const std::string &name)
constructor
Definition: link_mechanics.cc:37
std::string name
name of element
Definition: element.h:290
general link to one or more objects
Definition: link_mechanics.h:48
std::vector< Contour * > contour
array in which all contours are listed, connecting bodies via link
Definition: link_mechanics.h:128
virtual void plot(double t, double dt=1)
plots time dependent data
Definition: link_mechanics.cc:46
std::vector< fmatvec::Vec3 > WF
force and moment direction for smooth right hand side
Definition: link_mechanics.h:113