20 #ifndef _RELATIVE_KINEMATICS_OBSERVER_H__
21 #define _RELATIVE_KINEMATICS_OBSERVER_H__
23 #include "mbsim/observers/kinematics_observer.h"
30 std::string saved_frameOfReference;
31 std::shared_ptr<OpenMBV::Arrow> openMBVrTrans, openMBVrRel;
32 std::shared_ptr<OpenMBV::Arrow> openMBVvTrans, openMBVvRot, openMBVvRel, openMBVvF;
33 std::shared_ptr<OpenMBV::Arrow> openMBVaTrans, openMBVaRot, openMBVaZp, openMBVaCor, openMBVaRel, openMBVaF;
34 std::shared_ptr<OpenMBV::Arrow> openMBVomTrans, openMBVomRel;
35 std::shared_ptr<OpenMBV::Arrow> openMBVpsiTrans, openMBVpsiRot, openMBVpsiRel;
39 void setFrameOfReference(
Frame *frame_) { refFrame = frame_; }
43 virtual void initializeUsingXML(xercesc::DOMElement *element);
virtual void plot()
plots time dependent data
Definition: relative_kinematics_observer.cc:145
void init(InitStage stage)
plots time series header
Definition: relative_kinematics_observer.cc:38
Definition: kinematics_observer.h:32
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:298
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
Definition: relative_kinematics_observer.h:27