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generalized_spring_damper.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_SPRING_DAMPER_H_
20 #define _GENERALIZED_SPRING_DAMPER_H_
21 
22 #include "mbsim/links/dual_rigid_body_link.h"
23 #include "mbsim/functions/function.h"
24 
25 #include "mbsim/utils/boost_parameters.h"
26 #include "mbsim/utils/openmbv_utils.h"
27 
28 namespace MBSim {
29 
31  protected:
33  double l0;
34  public:
35  GeneralizedSpringDamper(const std::string &name="") : DualRigidBodyLink(name), func(NULL), l0(0) { }
37 
38  void updateGeneralizedForces();
39 
40  bool isActive() const { return true; }
41  bool gActiveChanged() { return false; }
42  virtual bool isSingleValued() const { return true; }
43  std::string getType() const { return "GeneralizedSpringDamper"; }
44  void init(InitStage stage);
45 
47  void setGeneralizedForceFunction(Function<double(double,double)> *func_) {
48  func=func_;
49  func->setParent(this);
50  func->setName("GeneralizedFoce");
51  }
52 
54  void setGeneralizedUnloadedLength(double l0_) { l0 = l0_; }
55 
56  void initializeUsingXML(xercesc::DOMElement *element);
57  };
58 
59 }
60 
61 #endif
void init(InitStage stage)
plots time series header
Definition: generalized_spring_damper.cc:42
void setGeneralizedForceFunction(Function< double(double, double)> *func_)
Set the function for the generalized force.
Definition: generalized_spring_damper.h:47
std::string getType() const
Definition: generalized_spring_damper.h:43
Definition: generalized_spring_damper.h:30
virtual bool isSingleValued() const
asks the link if it contains single valued force laws that contribute to the right-hand side vector h...
Definition: generalized_spring_damper.h:42
bool isActive() const
Definition: generalized_spring_damper.h:40
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:298
void setGeneralizedUnloadedLength(double l0_)
Set unloaded generalized length.
Definition: generalized_spring_damper.h:54
void setName(const std::string &str)
Definition: element.h:163
bool gActiveChanged()
Definition: generalized_spring_damper.h:41

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