19 #ifndef _GENERALIZED_VELOCITY_CONSTRAINT_H
20 #define _GENERALIZED_VELOCITY_CONSTRAINT_H
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23 #include "mbsim/functions/time_dependent_function.h"
24 #include "mbsim/functions/state_dependent_function.h"
39 void setGeneralConstraintFunction(
Function<fmatvec::VecV(fmatvec::VecV,
double)>* f_) {
44 void setTimeDependentConstraintFunction(
Function<fmatvec::VecV(
double)>* f_) {
47 void setStateDependentConstraintFunction(
Function<fmatvec::VecV(fmatvec::VecV)>* f_) {
50 void setConstraintFunction(
Function<fmatvec::VecV(fmatvec::VecV,
double)>* f_) { setGeneralConstraintFunction(f_); }
51 void setConstraintFunction(
Function<fmatvec::VecV(
double)>* f_) { setTimeDependentConstraintFunction(f_); }
52 void setConstraintFunction(
Function<fmatvec::VecV(fmatvec::VecV)>* f_) { setStateDependentConstraintFunction(f_); }
54 virtual void setUpInverseKinetics();
57 void updateGeneralizedCoordinates();
58 void updateGeneralizedJacobians(
int j=0);
60 void initializeUsingXML(xercesc::DOMElement * element);
62 virtual std::string
getType()
const {
return "GeneralizedVelocityConstraint"; }
virtual std::string getType() const
Definition: generalized_velocitiy_constraint.h:62
Definition: time_dependent_function.h:28
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
Definition: generalized_velocitiy_constraint.h:28
InitStage
The stages of the initialization.
Definition: element.h:97
Definition: planar_contour.h:31
std::string name
name of element
Definition: element.h:298
Definition: state_dependent_function.h:28
void setName(const std::string &str)
Definition: element.h:163
void init(InitStage stage)
plots time series header
Definition: generalized_velocitiy_constraint.cc:35