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frame_1s.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2  *
3  * This library is free software; you can redistribute it and/or
4  * modify it under the terms of the GNU Lesser General Public
5  * License as published by the Free Software Foundation; either
6  * version 2.1 of the License, or (at your option) any later version.
7  *
8  * This library is distributed in the hope that it will be useful,
9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11  * Lesser General Public License for more details.
12  *
13  * You should have received a copy of the GNU Lesser General Public
14  * License along with this library; if not, write to the Free Software
15  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16  *
17  * Contact: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _FRAME_1S_H__
21 #define _FRAME_1S_H__
22 
23 #include "mbsim/frames/frame.h"
24 
25 namespace MBSimFlexibleBody {
26 
27  class Frame1s : public MBSim::Frame {
28 
29  public:
30  Frame1s(const std::string &name = "dummy", double s_ = 0) : Frame(name), s(s_) { }
31 
32  std::string getType() const { return "Frame1s"; }
33 
34  void setParameter(double s_) { s = s_; }
35  double getParameter() const { return s; }
36 
37  void updatePositions();
38  void updateVelocities();
39  void updateAccelerations();
40  void updateJacobians(int j=0);
41  void updateGyroscopicAccelerations();
42 
43  virtual void initializeUsingXML(xercesc::DOMElement *element);
44 
45  protected:
46  double s;
47  };
48 
49 }
50 
51 #endif
Definition: frame_1s.h:27

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