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generalized_dual_constraint.h
1 /* Copyright (C) 2004-2016 MBSim Development Team
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10  * Lesser General Public License for more details.
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17  */
18 
19 #ifndef _GENERALIZED_DUAL_CONSTRAINT_H
20 #define _GENERALIZED_DUAL_CONSTRAINT_H
21 
22 #include "generalized_constraint.h"
23 
24 namespace MBSim {
25 
26  class RigidBody;
27 
33  public:
34  GeneralizedDualConstraint(const std::string &name) : GeneralizedConstraint(name), bd(NULL), bi(NULL) { }
35 
36  void init(InitStage stage);
37 
38  void setDependentRigidBody(RigidBody* body_) { bd=body_; }
39  void setIndependentRigidBody(RigidBody* body_) { bi=body_; }
40 
41  void initializeUsingXML(xercesc::DOMElement * element);
42 
43  protected:
44  RigidBody *bd, *bi;
45 
46  std::string saved_IndependentBody, saved_DependentBody;
47  };
48 
49 }
50 
51 #endif
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
InitStage
The stages of the initialization.
Definition: element.h:97
void init(InitStage stage)
plots time series header
Definition: generalized_dual_constraint.cc:30
std::string name
name of element
Definition: element.h:298
Class for generalized constraints.
Definition: generalized_constraint.h:32
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:52

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