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linear_translation.h
1 /* Copyright (C) 2004-2009 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@gmail.com
18  */
19 
20 #ifndef _LINEAR_TRANSLATION_H_
21 #define _LINEAR_TRANSLATION_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class LinearTranslation : public Function<fmatvec::Vec3(Arg)> {
30  private:
31  typename B::DRetDArg A;
32  fmatvec::Vec3 b;
33  fmatvec::Vec3 zeros(const typename B::DRetDArg &x) { return fmatvec::Vec3(x.rows()); }
34  public:
35  LinearTranslation() { }
36  LinearTranslation(const typename B::DRetDArg &A_) : A(A_) { }
37  LinearTranslation(const typename B::DRetDArg &A_, const fmatvec::Vec3 &b_) : A(A_), b(b_) { }
38  int getArgSize() const { return A.cols(); }
39  fmatvec::Vec3 operator()(const Arg &arg) { return A*arg+b; }
40  typename B::DRetDArg parDer(const Arg &arg) { return A; }
41  typename B::DRetDArg parDerDirDer(const Arg &arg1Dir, const Arg &arg1) { return typename B::DRetDArg(A.rows(),A.cols()); }
42  typename B::DDRetDDArg parDerParDer(const double &arg) { THROW_MBSIMERROR("parDerParDer is not available for given template parameters."); }
43  bool constParDer() const { return true; }
44  void initializeUsingXML(xercesc::DOMElement *element) {
45  xercesc::DOMElement *e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"translationVectors");
46  A=FromMatStr<typename B::DRetDArg>::cast((MBXMLUtils::X()%MBXMLUtils::E(e)->getFirstTextChild()->getData()).c_str());
47  e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"offset");
48  b=e?FromMatStr<fmatvec::Vec3>::cast((MBXMLUtils::X()%MBXMLUtils::E(e)->getFirstTextChild()->getData()).c_str()):zeros(A);
49  }
50  void setSlope(const typename B::DRetDArg &A_) { A = A_; }
51  void setIntercept(const fmatvec::Vec3 &b_) { b = b_; }
52  };
53 
54  template<>
55  inline fmatvec::Vec3 LinearTranslation<double>::parDerDirDer(const double &arg1Dir, const double &arg1) { return fmatvec::Vec3(); }
56  template<>
57  inline fmatvec::Vec3 LinearTranslation<double>::parDerParDer(const double &arg) { return fmatvec::Vec3(); }
58 
59 }
60 
61 #endif
Definition: planar_contour.h:31
Definition: linear_translation.h:28
Definition: utils.h:181

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