22 #include "mbsim/element.h"
35 virtual void updateGeneralizedCoordinates() {}
36 virtual void updateGeneralizedJacobians(
int j=0) { }
37 virtual void updatedx() { }
38 virtual void updatexd() { }
39 virtual void calcxSize() {
xSize = 0; }
42 virtual void setxInd(
int xInd_) { xInd = xInd_; };
43 virtual int getxSize()
const {
return xSize; }
51 std::string
getType()
const {
return "Constraint"; }
54 virtual void setUpInverseKinetics() { }
55 virtual std::shared_ptr<OpenMBV::Group> getOpenMBVGrp() {
return std::shared_ptr<OpenMBV::Group>();}
56 bool getUpdateGeneralizedCoordinates()
const {
return updGC; }
57 bool getUpdateGeneralizedJacobians()
const {
return updGJ; }
58 void resetUpToDate() { updGC =
true; updGJ =
true; }
int xSize
size and local index of order one parameters
Definition: constraint.h:83
virtual void closePlot()
closes plot file
Definition: constraint.cc:91
basic class of MBSim mainly for plotting
Definition: element.h:58
fmatvec::Vec xd
differentiated order one parameters
Definition: constraint.h:71
fmatvec::Vec x
order one parameters
Definition: constraint.h:66
virtual void plot()
plots time dependent data
Definition: constraint.cc:78
InitStage
The stages of the initialization.
Definition: element.h:97
virtual void init(InitStage stage)
plots time series header
Definition: constraint.cc:47
std::string name
name of element
Definition: element.h:298
Class for constraints between generalized coordinates of objects.
Definition: constraint.h:30
fmatvec::Vec x0
order one initial value
Definition: constraint.h:78
std::string getType() const
Definition: constraint.h:51