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generalized_position_constraint.h
1 /* Copyright (C) 2004-2009 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 _GENERALIZED_POSITION_CONSTRAINT_H
20 #define _GENERALIZED_POSITION_CONSTRAINT_H
21 
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
28 
29  public:
30  GeneralizedPositionConstraint(const std::string &name="") : GeneralizedDualConstraint(name), f(NULL) { }
31  ~GeneralizedPositionConstraint() { delete f; }
32 
33  void init(Element::InitStage stage);
34 
35  void setConstraintFunction(Function<fmatvec::VecV(double)>* f_) {
36  f = f_;
37  f->setParent(this);
38  f->setName("Constraint");
39  }
40 
41  void setUpInverseKinetics();
42 
43  void updateGeneralizedCoordinates();
44  void updateGeneralizedJacobians(int j=0);
45 
46  void initializeUsingXML(xercesc::DOMElement * element);
47 
48  virtual std::string getType() const { return "GeneralizedPositionConstraint"; }
49 
50  private:
52  };
53 
54 }
55 
56 #endif
Definition: generalized_position_constraint.h:27
virtual std::string getType() const
Definition: generalized_position_constraint.h:48
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
void init(Element::InitStage stage)
plots time series header
Definition: generalized_position_constraint.cc:35
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
void setName(const std::string &str)
Definition: element.h:163

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