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generalized_connection_constraint.h
1 /* Copyright (C) 2004-2016 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_CONNECTION_CONSTRAINT_H
20 #define _GENERALIZED_CONNECTION_CONSTRAINT_H
21 
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23 
24 namespace MBSim {
25 
27 
28  public:
30 
31  void updateGeneralizedCoordinates();
32  void updateGeneralizedJacobians(int j=0);
33  void setUpInverseKinetics();
34 
35  virtual std::string getType() const { return "GeneralizedConnectionConstraint"; }
36  };
37 
38 }
39 
40 #endif
virtual std::string getType() const
Definition: generalized_connection_constraint.h:35
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
Definition: generalized_connection_constraint.h:26
std::string name
name of element
Definition: element.h:298

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