23 #include "mbsim/mechanical_link.h"
24 #include "mbsim/rigid_body.h"
25 #include "mbsim/frames/frame.h"
36 fmatvec::Vec3 WrP0Z, WrP1Z;
39 Gearing(
const std::string &name);
40 void updateh(
int i=0);
41 void updateW(
int i=0);
42 void updateJacobians(
int j=0);
48 void connect(
double r1,
Frame* frame1_,
double r2,
Frame* frame2_);
49 virtual void updatexd();
50 virtual void updatedx();
51 virtual void calcxSize();
53 bool isActive()
const {
return true; }
54 bool gActiveChanged() {
return false; }
55 std::string getType()
const {
return "Gearing"; }
56 void init(InitStage stage);
57 bool isSetValued()
const;
58 virtual void calclaSize(
int j);
59 virtual void calcgSize(
int j);
60 virtual void calcgdSize(
int j);
62 void setForceFunction(
Function<
double(
double,
double)> *func_) {
64 func->setParent(
this);
67 void setReverse(
bool reverse_) { reverse = reverse_; }
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
void setName(const std::string &str)
Definition: element.h:163