19 #ifndef _EXTERNGENERALIZEDIO_H_
20 #define _EXTERNGENERALIZEDIO_H_
22 #include "mbsim/link.h"
32 std::string saved_ref;
37 std::vector<ApplyForceAlsoTo> applyForceAlsoTo;
43 void updateh(
double,
int i=0);
45 void updategd(
double);
48 void updatedx(
double t,
double dt);
49 void updatexd(
double t);
55 std::string
getType()
const {
return "ExternGeneralizedIO"; }
58 void connect(
Object *obj,
int qInd_,
int uInd_) { connectedObject=obj; qInd=qInd_; uInd=uInd_; }
59 void setGeneralizedForce(
double h) { la(0)=
h; }
60 void setGeneralizedLinearForceParameters(
double m_,
double a_,
double t0_) { m=m_; a=a_; t0=t0_; }
61 const double& getGeneralizedPosition() {
return g(0); }
62 const double& getGeneralizedVelocity() {
return gd(0); }
64 void plot(
double t,
double dt=1);
65 void initializeUsingXML(xercesc::DOMElement *element);
76 void addApplyForceAlsoTo(
Object *ref,
double factor,
int index);
79 std::string saved_connectedObject;
fmatvec::Vec g
relative distance, relative velocity, contact force parameters
Definition: link.h:478
general link to one or more objects
Definition: link.h:51
std::string getType() const
Definition: extern_generalized_io.h:55
bool isSingleValued() const
asks the link if it contains single valued force laws that contribute to the right-hand side vector h...
Definition: extern_generalized_io.h:51
virtual void updatehRef(const fmatvec::Vec &, int)
references to complete and link smooth force vector of dynamic system parent
Definition: extern_generalized_io.h:70
void plot(double t, double dt=1)
plots time dependent data
Definition: extern_generalized_io.cc:116
Definition: extern_generalized_io.h:26
std::vector< fmatvec::Vec > h[2]
smooth complete and link right hand side
Definition: link.h:558
void init(InitStage stage)
plots time series header
Definition: extern_generalized_io.cc:76
virtual void updaterRef(const fmatvec::Vec &, int)
references to nonsmooth force vector of dynamic system parent
Definition: extern_generalized_io.h:74
InitStage
The stages of the initialization.
Definition: element.h:97
bool gActiveChanged()
Definition: extern_generalized_io.h:54
std::string name
name of element
Definition: element.h:290
virtual void updateWRef(const fmatvec::Mat &, int)
references to contact force direction matrix of dynamic system parent
Definition: extern_generalized_io.h:68
virtual void updateVRef(const fmatvec::Mat &, int)
references to condensed contact force direction matrix of dynamic system parent
Definition: extern_generalized_io.h:69
bool isActive() const
Definition: extern_generalized_io.h:53
Definition: extern_generalized_io.h:31
class for all objects having own dynamics and mass
Definition: object.h:42