MBSim Flexible Body Module C++ API
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mbsimFlexibleBody
frames
node_frame.h
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/* Copyright (C) 2004-2014 MBSim Development Team
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Contact: martin.o.foerg@googlemail.com
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*/
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#ifndef _NODE_FRAME_H__
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#define _NODE_FRAME_H__
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#include "mbsim/frames/frame.h"
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namespace
MBSimFlexibleBody {
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class
NodeFrame
:
public
MBSim::Frame
{
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public
:
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NodeFrame
(
const
std::string &name =
"dummy"
,
int
node_ = 0) : Frame(name),
node
(node_) { }
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std::string getType()
const
{
return
"NodeFrame"
; }
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void
setNodeNumber(
int
node_) {
node
= node_; }
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int
getNodeNumber()
const
{
return
node
; }
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void
updatePositions();
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void
updateVelocities();
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void
updateAccelerations();
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void
updateJacobians(
int
j=0);
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void
updateGyroscopicAccelerations();
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virtual
void
initializeUsingXML(xercesc::DOMElement *element);
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protected
:
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int
node
;
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};
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}
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#endif
MBSimFlexibleBody::NodeFrame::node
int node
node number of the frame
Definition:
node_frame.h:53
MBSim::Frame
MBSimFlexibleBody::NodeFrame
cartesian frame on nodes of flexible bodies
Definition:
node_frame.h:31
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