23 #include "mbsim/dynamic_system.h"
51 virtual void updateStateDependentVariables(
double t);
52 virtual void updatedu(
double t,
double dt);
53 virtual void updatezd(
double t);
54 virtual void updateud(
double t,
int i=0);
55 virtual void sethSize(
int h,
int j=0) {(this->*sethSize_[j])(h);}
56 virtual void calcqSize();
57 virtual void calcuSize(
int j=0) {(this->*calcuSize_[j])();}
58 virtual void setqInd(
int qInd);
59 virtual void setuInd(
int uInd,
int j=0) {(this->*setuInd_[j])(uInd);}
60 virtual void sethInd(
int hInd,
int j=0) {(this->*sethInd_[j])(hInd);}
63 virtual std::string
getType()
const {
return "Graph"; }
67 virtual void updateJacobians(
double t,
int j=0);
70 void (
Graph::*calcuSize_[2])();
71 void (
Graph::*sethSize_[2])(
int h);
72 void (
Graph::*setuInd_[2])(
int uInd);
73 void (
Graph::*sethInd_[2])(
int hInd);
76 void sethSize0(
int h);
77 void sethSize1(
int h);
78 void setuInd0(
int uInd);
79 void setuInd1(
int uInd);
80 void sethInd0(
int hInd);
81 void sethInd1(
int hInd);
98 std::vector< std::vector<Object*> >
obj;
Graph(const std::string &name)
constructor
Definition: graph.cc:29
void addObject(int level, Object *object)
add new object to graph at level
Definition: graph.cc:146
fmatvec::Vec h[2]
smooth, smooth with respect to objects, smooth with respect to links, nonsmooth and order one right h...
Definition: dynamic_system.h:799
void facLLM(int i=0)
compute Cholesky decomposition of mass matrix TODO necessary?
Definition: graph.cc:142
std::vector< std::vector< Object * > > obj
none
Definition: graph.h:98
virtual std::string getType() const
Definition: graph.h:63
dynamic system as topmost hierarchical level
Definition: dynamic_system.h:57
class for tree-structured mechanical systems with recursive and flat memory mechanism ...
Definition: graph.h:37
std::string name
name of element
Definition: element.h:290
virtual ~Graph()
destructor
Definition: graph.cc:40
class for all objects having own dynamics and mass
Definition: object.h:42