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node_frame.h
1 /* Copyright (C) 2004-2014 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@googlemail.com
18  */
19 
20 #ifndef _NODE_FRAME_H__
21 #define _NODE_FRAME_H__
22 
23 #include "mbsim/frames/frame.h"
24 
25 namespace MBSimFlexibleBody {
26 
31  class NodeFrame : public MBSim::Frame {
32 
33  public:
34  NodeFrame(const std::string &name = "dummy", int node_ = 0) : Frame(name), node(node_) { }
35 
36  std::string getType() const { return "NodeFrame"; }
37 
38  void setNodeNumber(int node_) { node = node_; }
39  int getNodeNumber() const { return node; }
40 
41  void updatePositions();
42  void updateVelocities();
43  void updateAccelerations();
44  void updateJacobians(int j=0);
45  void updateGyroscopicAccelerations();
46 
47  virtual void initializeUsingXML(xercesc::DOMElement *element);
48 
49  protected:
53  int node;
54  };
55 
56 }
57 
58 #endif
int node
node number of the frame
Definition: node_frame.h:53
cartesian frame on nodes of flexible bodies
Definition: node_frame.h:31

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