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MBSim::Group Class Reference

group ingredients do not depend on each other More...

#include <group.h>

Inheritance diagram for MBSim::Group:
MBSim::DynamicSystem MBSim::Element fmatvec::Atom MBSim::DynamicSystemSolver

Public Member Functions

 Group (const std::string &name="")
 constructor More...
 
virtual ~Group ()
 destructor
 
virtual void updateJacobians (double t, int j=0)
 
virtual void facLLM (int i=0)
 compute Cholesky decomposition of mass matrix TODO necessary?
 
virtual void updateStateDependentVariables (double t)
 
virtual void updatedu (double t, double dt)
 
virtual void updatezd (double t)
 
virtual void updateud (double t, int i=0)
 
virtual std::string getType () const
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual xercesc::DOMElement * writeXMLFile (xercesc::DOMNode *element)
 
- Public Member Functions inherited from MBSim::DynamicSystem
 DynamicSystem (const std::string &name)
 constructor
 
virtual ~DynamicSystem ()
 destructor
 
virtual void updateT (double t)
 
virtual void updateh (double t, int i=0)
 
virtual void updateStateDerivativeDependentVariables (double t)
 
virtual void updateM (double t, int i=0)
 
virtual void updatedq (double t, double dt)
 
virtual void updateqd (double t)
 
virtual void sethSize (int hSize_, int i=0)
 
virtual int gethSize (int i=0) const
 
virtual int getqSize () const
 
virtual int getuSize (int i=0) const
 
virtual void calcqSize ()
 
virtual void calcuSize (int j=0)
 
virtual int getuInd (int i=0)
 
virtual void setqInd (int qInd_)
 
virtual void setuInd (int uInd_, int i=0)
 
virtual void sethInd (int hInd_, int i=0)
 
virtual void setxInd (int xInd_)
 
virtual const fmatvec::Vecgetq () const
 
virtual fmatvec::Vecgetq ()
 
virtual const fmatvec::Vecgetu () const
 
virtual fmatvec::Vecgetu ()
 
virtual H5::GroupBasegetPlotGroup ()
 
virtual PlotFeatureStatus getPlotFeature (PlotFeature fp)
 
virtual PlotFeatureStatus getPlotFeatureForChildren (PlotFeature fp)
 
virtual void updatewb (double t, int j=0)
 
virtual void updateW (double t, int j=0)
 
virtual void updateV (double t, int j=0)
 
virtual void updateg (double t)
 
virtual void updategd (double t)
 
virtual void updateStopVector (double t)
 
virtual void updateLinkStatus (double t)
 
virtual void updateLinkStatusReg (double t)
 
virtual void updategInverseKinetics (double t)
 
virtual void updategdInverseKinetics (double t)
 
virtual void updateWInverseKinetics (double t, int j=0)
 
virtual void updatehInverseKinetics (double t, int j=0)
 
virtual void updateJacobiansInverseKinetics (double t, int j=0)
 
virtual void updatebInverseKinetics (double t)
 
virtual void updatedx (double t, double dt)
 
virtual void updatexd (double t)
 
virtual void calcxSize ()
 
const fmatvec::Vecgetx () const
 
fmatvec::Vecgetx ()
 
int getxSize () const
 
void updatexRef (const fmatvec::Vec &ref)
 
void updatexdRef (const fmatvec::Vec &ref)
 
virtual void init (InitStage stage)
 plots time series header More...
 
virtual void initz ()
 
virtual void writez (H5::GroupBase *group)
 
virtual void readz0 (H5::GroupBase *parent)
 
virtual void setDynamicSystemSolver (DynamicSystemSolver *sys)
 sets the used dynamics system solver to the element More...
 
virtual void plot (double t, double dt)
 plots time dependent data More...
 
virtual void plotAtSpecialEvent (double t, double dt=1.)
 plots time dependent data at special events More...
 
virtual void closePlot ()
 closes plot file
 
virtual int solveConstraintsFixpointSingle ()
 solve contact equations with single step fixed point scheme More...
 
virtual int solveImpactsFixpointSingle (double dt)
 solve impact equations with single step fixed point scheme on velocity level More...
 
virtual int solveConstraintsGaussSeidel ()
 solve contact equations with Gauss-Seidel scheme More...
 
virtual int solveImpactsGaussSeidel (double dt)
 solve impact equations with Gauss-Seidel scheme on velocity level More...
 
virtual int solveConstraintsRootFinding ()
 solve contact equations with Newton scheme More...
 
virtual int solveImpactsRootFinding (double dt)
 solve impact equations with Newton scheme on velocity level More...
 
virtual int jacobianConstraints ()
 compute JACOBIAN of contact equations
 
virtual int jacobianImpacts ()
 compute JACOBIAN of contact equations on velocity level
 
virtual void checkConstraintsForTermination ()
 validate force laws concerning given tolerances
 
virtual void checkImpactsForTermination (double dt)
 validate force laws concerning given tolerances on velocity level
 
virtual void updaterFactors ()
 update relaxation factors for contact equations
 
virtual FramegetFrame (const std::string &name, bool check=true) const
 
virtual ContourgetContour (const std::string &name, bool check=true) const
 
void setPosition (const fmatvec::Vec3 &PrPF_)
 
void setOrientation (const fmatvec::SqrMat3 &APF_)
 
void setFrameOfReference (Frame *frame)
 
const fmatvec::Vec3 & getPosition () const
 
const fmatvec::SqrMat3 & getOrientation () const
 
const FramegetFrameOfReference () const
 
const fmatvec::Vecgetxd () const
 
fmatvec::Vecgetxd ()
 
const fmatvec::Vecgetx0 () const
 
fmatvec::Vecgetx0 ()
 
const fmatvec::MatgetT () const
 
const fmatvec::SymMatgetM (int i=0) const
 
const fmatvec::SymMatgetLLM (int i=0) const
 
fmatvec::SymMatgetLLM (int i=0)
 
const fmatvec::Vecgeth (int j=0) const
 
fmatvec::Vecgeth (int j=0)
 
const fmatvec::Vecgetf () const
 
fmatvec::Vecgetf ()
 
const fmatvec::MatgetW (int i=0) const
 
fmatvec::MatgetW (int i=0)
 
const fmatvec::MatgetV (int i=0) const
 
fmatvec::MatgetV (int i=0)
 
const fmatvec::Vecgetla () const
 
fmatvec::Vecgetla ()
 
const fmatvec::Vecgetg () const
 
fmatvec::Vecgetg ()
 
const fmatvec::Vecgetgd () const
 
fmatvec::Vecgetgd ()
 
const fmatvec::VecgetrFactor () const
 
fmatvec::VecgetrFactor ()
 
fmatvec::Vecgetsv ()
 
const fmatvec::Vecgetsv () const
 
fmatvec::VecInt & getjsv ()
 
const fmatvec::VecInt & getjsv () const
 
fmatvec::VecInt & getLinkStatus ()
 
fmatvec::VecInt & getLinkStatusReg ()
 
const fmatvec::VecInt & getLinkStatus () const
 
const fmatvec::VecInt & getLinkStatusReg () const
 
const fmatvec::Vecgetres () const
 
fmatvec::Vecgetres ()
 
const fmatvec::Vecgetcorr () const
 
fmatvec::Vecgetcorr ()
 
void setx (const fmatvec::Vec &x_)
 
void setx0 (const fmatvec::Vec &x0_)
 
void setx0 (double x0_)
 
int getxInd ()
 
int getlaInd () const
 
int gethInd (int i=0)
 
void setlaInd (int ind)
 
void setgInd (int ind)
 
void setgdInd (int ind)
 
void setrFactorInd (int ind)
 
virtual void setsvInd (int svInd_)
 
void setLinkStatusInd (int LinkStatusInd_)
 
void setLinkStatusRegInd (int LinkStatusRegInd_)
 
int getzSize () const
 
void setqSize (int qSize_)
 
void setuSize (int uSize_, int i=0)
 
void setxSize (int xSize_)
 
int getlaSize () const
 
int getgSize () const
 
int getgdSize () const
 
int getrFactorSize () const
 
int getsvSize () const
 
int getLinkStatusSize () const
 
int getLinkStatusRegSize () const
 
const std::vector< Object * > & getObjects () const
 
const std::vector< Link * > & getLinks () const
 
const std::vector
< DynamicSystem * > & 
getDynamicSystems () const
 
const std::vector< Frame * > & getFrames () const
 
const std::vector< Contour * > & getContours () const
 
void updateqRef (const fmatvec::Vec &ref)
 references to positions of dynamic system parent More...
 
void updateqdRef (const fmatvec::Vec &ref)
 references to differentiated positions of dynamic system parent More...
 
void updateuRef (const fmatvec::Vec &ref)
 references to velocities of dynamic system parent More...
 
void updateuallRef (const fmatvec::Vec &ref)
 references to velocities of dynamic system parent More...
 
void updateudRef (const fmatvec::Vec &ref, int i=0)
 references to differentiated velocities of dynamic system parent More...
 
void updateudallRef (const fmatvec::Vec &ref, int i=0)
 references to velocities of dynamic system parent More...
 
void updatehRef (const fmatvec::Vec &hRef, int i=0)
 references to smooth right hand side of dynamic system parent More...
 
void updaterRef (const fmatvec::Vec &ref, int j=0)
 references to nonsmooth right hand side of dynamic system parent More...
 
void updateTRef (const fmatvec::Mat &ref)
 references to linear transformation matrix between differentiated positions and velocities of dynamic system parent More...
 
void updateMRef (const fmatvec::SymMat &ref, int i=0)
 references to mass matrix of dynamic system parent More...
 
void updateLLMRef (const fmatvec::SymMat &ref, int i=0)
 references to Cholesky decomposition of dynamic system parent More...
 
void updategRef (const fmatvec::Vec &ref)
 references to relative distances of dynamic system parent More...
 
void updategdRef (const fmatvec::Vec &ref)
 references to relative velocities of dynamic system parent More...
 
void updatelaRef (const fmatvec::Vec &ref)
 references to contact force parameters of dynamic system parent More...
 
void updatelaInverseKineticsRef (const fmatvec::Vec &ref)
 
void updatebInverseKineticsRef (const fmatvec::Mat &ref)
 
void updatewbRef (const fmatvec::Vec &ref)
 references to TODO of dynamic system parent More...
 
void updateWRef (const fmatvec::Mat &ref, int i=0)
 references to contact force direction matrix of dynamic system parent More...
 
void updateWInverseKineticsRef (const fmatvec::Mat &ref, int i=0)
 references to contact force direction matrix of dynamic system parent More...
 
void updateVRef (const fmatvec::Mat &ref, int i=0)
 references to condensed contact force direction matrix of dynamic system parent More...
 
void updatesvRef (const fmatvec::Vec &ref)
 references to stopvector (rootfunction for event driven integrator) of dynamic system parent More...
 
void updatejsvRef (const fmatvec::VecInt &ref)
 references to boolean evaluation of stopvector concerning roots of dynamic system parent More...
 
void updateLinkStatusRef (const fmatvec::VecInt &LinkStatusParent)
 references to status vector of set valued links with piecewise link equations (which piece is valid) More...
 
void updateLinkStatusRegRef (const fmatvec::VecInt &LinkStatusRegParent)
 references to status vector of single valued links More...
 
void updateresRef (const fmatvec::Vec &ref)
 references to residuum of contact equations of dynamic system parent More...
 
void updaterFactorRef (const fmatvec::Vec &ref)
 references to relaxation factors for contact equations of dynamic system parent More...
 
void clearElementLists ()
 
void buildListOfDynamicSystems (std::vector< DynamicSystem * > &sys)
 build flat list of dynamic systems More...
 
void buildListOfObjects (std::vector< Object * > &obj)
 build flat list of objects More...
 
void buildListOfLinks (std::vector< Link * > &lnk)
 build flat list of links More...
 
void buildListOfSetValuedLinks (std::vector< Link * > &lnk)
 build flat list of all setvalued links More...
 
void buildListOfFrames (std::vector< Frame * > &frm)
 build flat list of frames More...
 
void buildListOfContours (std::vector< Contour * > &cnt)
 build flat list of contours More...
 
void buildListOfModels (std::vector< ModellingInterface * > &model)
 build flat list of models More...
 
void buildListOfInverseKineticsLinks (std::vector< Link * > &lnk)
 build flat list of inverse kinetics links More...
 
void buildListOfObservers (std::vector< Observer * > &obsrv)
 build flat list of observers More...
 
void setUpInverseKinetics ()
 analyse constraints of dynamic systems for usage in inverse kinetics
 
void setUpLinks ()
 distribute links to set- and single valued container
 
bool gActiveChanged ()
 
bool gActiveChangedReg ()
 
bool detectImpact ()
 
void calcsvSize ()
 calculates size of stop vector
 
void calclaSize (int j)
 calculates size of contact force parameters
 
void calcLinkStatusSize ()
 calculates size of set-valued link status vector
 
void calcLinkStatusRegSize ()
 calculates size of single-valued link status vector
 
void calclaInverseKineticsSize ()
 calculates size of contact force parameters
 
void calcbInverseKineticsSize ()
 calculates size of contact force parameters
 
void calcgSize (int j)
 calculates size of relative distances
 
void calcgdSize (int j)
 calculates size of gap velocities More...
 
void calcrFactorSize (int j)
 calculates size of relaxation factors for contact equations
 
void setUpActiveLinks ()
 rearrange vector of active setvalued links
 
void checkActive (int i)
 check if set-valued contacts are active and set corresponding attributes More...
 
void checkActiveReg (int i)
 check if single-valued contacts are active
 
virtual void setgTol (double tol)
 
virtual void setgdTol (double tol)
 
virtual void setgddTol (double tol)
 
virtual void setlaTol (double tol)
 
virtual void setLaTol (double tol)
 
void setrMax (double rMax)
 
void addFrame (FixedRelativeFrame *frame)
 
int frameIndex (const Frame *frame_) const
 
void addGroup (DynamicSystem *dynamicsystem)
 
DynamicSystemgetGroup (const std::string &name, bool check=true) const
 
void addObject (Object *object)
 
ObjectgetObject (const std::string &name, bool check=true) const
 
void addLink (Link *link)
 
void addInverseKineticsLink (Link *link)
 
ObservergetObserver (const std::string &name, bool check=true) const
 
void addObserver (Observer *element)
 
LinkgetLink (const std::string &name, bool check=true) const
 
void addModel (ModellingInterface *modell)
 
ModellingInterfacegetModel (const std::string &name, bool check=true) const
 
FixedRelativeFramegetFrameI ()
 
virtual ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 Get the Element named name in the container named container.
 
virtual void updatecorr (int j)
 
void updatecorrRef (const fmatvec::Vec &ref)
 
void calccorrSize (int j)
 
void checkRoot ()
 
- Public Member Functions inherited from MBSim::Element
 Element (const std::string &name)
 constructor
 
virtual ~Element ()
 destructor
 
virtual void initDataInterfaceBase (DynamicSystemSolver *parentds)
 TODO.
 
const std::string & getName () const
 
void setName (const std::string &str)
 
void setPath (const std::string &str)
 
DynamicSystemSolvergetDynamicSystemSolver ()
 
virtual void createPlotGroup ()
 creates the plotGroup for H5-output
 
H5::GroupBasegetPlotGroup ()
 
virtual void setPlotFeature (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature. More...
 
void setPlotFeatureForChildren (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature for the children of this object. More...
 
void setPlotFeatureRecursive (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature for this object and the children of this object. More...
 
PlotFeatureStatus getPlotFeature (PlotFeature pf)
 
PlotFeatureStatus getPlotFeatureForChildren (PlotFeature pf)
 
const std::vector
< MBXMLUtils::EmbedDOMLocator > & 
getLocationStack () const
 
template<class T >
T * getByPath (const std::string &path, bool initialCaller=true) const
 Get the object of type T represented by the path path. Do not set any argurment other than path!
 
std::string getPath (const Element *relTo=NULL, std::string sep="/") const
 Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!
 
virtual ElementgetParent ()
 
virtual const ElementgetParent () const
 
virtual void setParent (Element *parent_)
 
std::vector< Element * > getElementsDependingOn () const
 checks dependency on other elements. More...
 
void addDependency (Element *ele)
 
int computeLevel ()
 computes the length of the pathes in the graph that represents the dependencies between all elements. More...
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, boost::shared_ptr< bool > &a, boost::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Public Attributes

fmatvec::Vec RrRD
 
fmatvec::SqrMat ARD
 

Additional Inherited Members

- Public Types inherited from MBSim::Element
enum  PlotFeatureStatus { enabled, disabled, unset }
 Plot feature status. More...
 
enum  PlotFeature {
  plotRecursive =0, separateFilePerGroup, state, stateDerivative,
  notMinimalState, rightHandSide, globalPosition, globalVelocity,
  globalAcceleration, energy, openMBV, generalizedLinkForce,
  linkKinematics, stopVector, debug, LASTPLOTFEATURE
}
 Plot Features. More...
 
enum  InitStage {
  modelBuildup =0, resolveXMLPath, preInit, resize,
  relativeFrameContourLocation, worldFrameContourLocation, plotting, reorganizeHierarchy,
  unknownStage, calculateLocalInitialValues, LASTINITSTAGE
}
 The stages of the initialization. More...
 
- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from MBSim::Element
static double getDouble (xercesc::DOMElement *e)
 
static int getInt (xercesc::DOMElement *e)
 
static bool getBool (xercesc::DOMElement *e)
 
static fmatvec::Vec3 getVec3 (xercesc::DOMElement *e)
 
static fmatvec::Vec getVec (xercesc::DOMElement *e, int rows=0)
 
static fmatvec::Mat3xV getMat3xV (xercesc::DOMElement *e, int cols=0)
 
static fmatvec::Mat getMat (xercesc::DOMElement *e, int rows=0, int cols=0)
 
static fmatvec::SqrMat3 getSqrMat3 (xercesc::DOMElement *e)
 
static fmatvec::SqrMat getSqrMat (xercesc::DOMElement *e, int size=0)
 
static fmatvec::SymMat3 getSymMat3 (xercesc::DOMElement *e)
 
static fmatvec::SymMat getSymMat (xercesc::DOMElement *e, int size=0)
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const boost::shared_ptr< bool > &a=boost::make_shared< bool >(true), const boost::shared_ptr< std::ostream > &s=boost::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 
- Protected Member Functions inherited from MBSim::DynamicSystem
void addContour (Contour *contour)
 
- Protected Member Functions inherited from MBSim::Element
void updatePlotFeatures ()
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 
- Protected Attributes inherited from MBSim::DynamicSystem
FrameR
 parent frame
 
fmatvec::Vec3 PrPF
 relative translation with respect to parent frame
 
fmatvec::SqrMat3 APF
 relative rotation with respect to parent frame
 
std::vector< Object * > object
 container for possible ingredients
 
std::vector< Link * > link
 
std::vector< Link * > linkSingleValued
 
std::vector< Link * > linkSetValued
 
std::vector< Link * > linkSetValuedActive
 
std::vector< ModellingInterface * > model
 
std::vector< DynamicSystem * > dynamicsystem
 
std::vector< Link * > inverseKineticsLink
 
std::vector< Observer * > observer
 
std::vector< std::vector< Link * > > linkOrdered
 
fmatvec::Mat T
 linear relation matrix of position and velocity parameters
 
fmatvec::SymMat M [2]
 mass matrix
 
fmatvec::SymMat LLM [2]
 Cholesky decomposition of mass matrix.
 
fmatvec::Vec q
 positions, differentiated positions, initial positions
 
fmatvec::Vec qd
 
fmatvec::Vec q0
 
fmatvec::Vec u
 velocities, differentiated velocities, initial velocities
 
fmatvec::Vec ud [2]
 
fmatvec::Vec u0
 
fmatvec::Vec x
 order one parameters, differentiated order one parameters, initial order one parameters
 
fmatvec::Vec xd
 
fmatvec::Vec x0
 
fmatvec::Vec h [2]
 smooth, smooth with respect to objects, smooth with respect to links, nonsmooth and order one right hand side
 
fmatvec::Vec r [2]
 
fmatvec::Vec f
 
fmatvec::Mat W [2]
 
fmatvec::Mat V [2]
 
fmatvec::Vec la
 contact force parameters
 
fmatvec::Vec g
 relative distances and velocities
 
fmatvec::Vec gd
 
fmatvec::Vec wb
 TODO.
 
fmatvec::Vec res
 residuum of nonlinear contact equations for Newton scheme
 
fmatvec::Vec rFactor
 rfactors for relaxation nonlinear contact equations
 
fmatvec::Vec sv
 stop vector (root functions for event driven integration
 
fmatvec::VecInt jsv
 boolean evaluation of stop vector concerning roots
 
fmatvec::VecInt LinkStatus
 status of set-valued links
 
fmatvec::VecInt LinkStatusReg
 status of single-valued links
 
int qSize
 size and local start index of positions relative to parent
 
int qInd
 
int uSize [2]
 size and local start index of velocities relative to parent
 
int uInd [2]
 
int xSize
 size and local start index of order one parameters relative to parent
 
int xInd
 
int hSize [2]
 size and local start index of order smooth right hand side relative to parent
 
int hInd [2]
 
int gSize
 size and local start index of relative distances relative to parent
 
int gInd
 
int gdSize
 size and local start index of relative velocities relative to parent
 
int gdInd
 
int laSize
 size and local start index of contact force parameters relative to parent
 
int laInd
 
int rFactorSize
 size and local start index of rfactors relative to parent
 
int rFactorInd
 
int svSize
 size and local start index of stop vector relative to parent
 
int svInd
 
int LinkStatusSize
 size and local start index of set-valued link status vector relative to parent
 
int LinkStatusInd
 
int LinkStatusRegSize
 size and local start index of single-valued link status vector relative to parent
 
int LinkStatusRegInd
 
std::vector< Frame * > frame
 vector of frames and contours
 
std::vector< Contour * > contour
 
boost::shared_ptr< H5::Filehdf5File
 
FixedRelativeFrameI
 
int laInverseKineticsSize
 size of contact force parameters of special links relative to parent
 
int bInverseKineticsSize
 
fmatvec::Mat WInverseKinetics [2]
 
fmatvec::Mat bInverseKinetics
 
fmatvec::Vec laInverseKinetics
 
int corrSize
 
int corrInd
 
fmatvec::Vec corr
 
std::string saved_frameOfReference
 
- Protected Attributes inherited from MBSim::Element
Elementparent
 
std::string name
 name of element
 
std::string path
 The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.
 
std::vector
< MBXMLUtils::EmbedDOMLocator > 
locationStack
 
DynamicSystemSolverds
 dynamic system
 
H5::VectorSerie< double > * plotVectorSerie
 time series
 
std::vector< double > plotVector
 one entry of time series
 
std::vector< std::string > plotColumns
 columns of time series
 
H5::GroupBaseplotGroup
 associated plot group
 
std::vector< Element * > dependency
 vector containing all dependencies.
 

Detailed Description

group ingredients do not depend on each other

Author
Martin Foerg
Date
2009-03-26 some comments (Thorsten Schindler)
2009-06-14 OpenMP (Thorsten Schindler)
2009-07-08 relative dynamic system location (Thorsten Schindler)
Todo:
OpenMP only static scheduling with intelligent reordering of vectors by dynamic test runs

Constructor & Destructor Documentation

MBSim::Group::Group ( const std::string &  name = "")

constructor

Parameters
nameof group

Member Function Documentation

virtual std::string MBSim::Group::getType ( ) const
inlinevirtual

DEPRECATED

Reimplemented from MBSim::DynamicSystem.

Reimplemented in MBSim::DynamicSystemSolver.


The documentation for this class was generated from the following files:

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