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mbsim
constraints
generalized_gear_constraint.h
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/* Copyright (C) 2004-2009 MBSim Development Team
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Contact: martin.o.foerg@googlemail.com
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*/
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#ifndef _GENERALIZED_GEAR_CONSTRAINT_H
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#define _GENERALIZED_GEAR_CONSTRAINT_H
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#include "mbsim/constraints/generalized_constraint.h"
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namespace
MBSim {
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class
RigidBody;
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class
GeneralizedGearConstraint
:
public
GeneralizedConstraint
{
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public
:
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GeneralizedGearConstraint
(
const
std::string &
name
=
""
) :
GeneralizedConstraint
(
name
), bd(NULL) { }
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void
init
(
InitStage
stage);
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void
setDependentRigidBody(
RigidBody
* body_) { bd=body_; }
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void
addIndependentRigidBody(
RigidBody
*body,
double
ratio);
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void
updateGeneralizedCoordinates();
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void
updateGeneralizedJacobians(
int
j=0);
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void
setUpInverseKinetics();
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void
initializeUsingXML(xercesc::DOMElement * element);
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virtual
std::string
getType
()
const
{
return
"GeneralizedGearConstraint"
; }
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private
:
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std::vector<RigidBody*> bi;
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RigidBody
*bd;
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std::vector<double> ratio;
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std::string saved_DependentBody;
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std::vector<std::string> saved_IndependentBody;
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};
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}
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#endif
MBSim::GeneralizedGearConstraint::getType
virtual std::string getType() const
Definition:
generalized_gear_constraint.h:44
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition:
element.h:97
MBSim::Element::name
std::string name
name of element
Definition:
element.h:298
MBSim::GeneralizedConstraint
Class for generalized constraints.
Definition:
generalized_constraint.h:32
MBSim::GeneralizedGearConstraint::init
void init(InitStage stage)
plots time series header
Definition:
generalized_gear_constraint.cc:36
MBSim::GeneralizedGearConstraint
Definition:
generalized_gear_constraint.h:28
MBSim::RigidBody
rigid bodies with arbitrary kinematics
Definition:
rigid_body.h:52
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