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relative_kinematics_observer.h
1 /* Copyright (C) 2004-2016 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 _RELATIVE_KINEMATICS_OBSERVER_H__
21 #define _RELATIVE_KINEMATICS_OBSERVER_H__
22 
23 #include "mbsim/observers/kinematics_observer.h"
24 
25 namespace MBSim {
26 
28  private:
29  Frame* refFrame;
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;
36 
37  public:
38  RelativeKinematicsObserver(const std::string &name="");
39  void setFrameOfReference(Frame *frame_) { refFrame = frame_; }
40 
41  void init(InitStage stage);
42  virtual void plot();
43  virtual void initializeUsingXML(xercesc::DOMElement *element);
44  };
45 
46 }
47 
48 #endif
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

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