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isotropic_rotational_spring_damper.h
1 /* Copyright (C) 2004-2012 MBSim Development Team
2  * This library is free software; you can redistribute it and/or
3  * modify it under the terms of the GNU Lesser General Public
4  * License as published by the Free Software Foundation; either
5  * version 2.1 of the License, or (at your option) any later version.
6  *
7  * This library is distributed in the hope that it will be useful,
8  * but WITHOUT ANY WARRANTY; without even the implied warranty of
9  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
10  * Lesser General Public License for more details.
11  *
12  * You should have received a copy of the GNU Lesser General Public
13  * License along with this library; if not, write to the Free Software
14  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
15  *
16  * Contact: martin.o.foerg@googlemail.com
17  */
18 
19 #ifndef _ISOTROPICROTATIONALSPRINGDAMPER_H_
20 #define _ISOTROPICROTATIONALSPRINGDAMPER_H_
21 
22 #include "mbsim/links/floating_frame_link.h"
23 
24 namespace MBSim {
25 
37  public:
42  IsotropicRotationalSpringDamper(const std::string &name);
43 
48 
49  virtual void updateGeneralizedForces();
50  virtual void updateGeneralizedPositions();
51  virtual void updateGeneralizedVelocities();
52  /***************************************************/
53 
54  /* INHERITED INTERFACE OF LINK */
55  virtual bool isActive() const { return true; }
56  virtual bool gActiveChanged() { return false; }
57  virtual bool isSingleValued() const { return true; }
58  /***************************************************/
59 
60  /* SETTER */
61  void setParameters(double c_, double d_, double alpha0_) {
62  c = c_;
63  d = d_;
64  alpha0 = alpha0_;
65  }
66 
67  void setMomentDirection(const fmatvec::Mat3xV& md);
68 
69  private:
73  double c, d, alpha0;
74  };
75 
76 }
77 
78 #endif /* _ISOTROPICROTATIONALSPRINGDAMPER_H_ */
double c
stiffness, damping, relaxed angle
Definition: isotropic_rotational_spring_damper.h:73
Isotropic rotational spring damper force law. This class connects two frames and applies a torque whi...
Definition: isotropic_rotational_spring_damper.h:36
virtual bool isActive() const
Definition: isotropic_rotational_spring_damper.h:55
virtual bool isSingleValued() const
asks the link if it contains single valued force laws that contribute to the right-hand side vector h...
Definition: isotropic_rotational_spring_damper.h:57
std::string name
name of element
Definition: element.h:298
virtual ~IsotropicRotationalSpringDamper()
destructor
Definition: isotropic_rotational_spring_damper.cc:34
IsotropicRotationalSpringDamper(const std::string &name)
constructor
Definition: isotropic_rotational_spring_damper.cc:30
virtual bool gActiveChanged()
Definition: isotropic_rotational_spring_damper.h:56

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