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translation_along_fixed_axis.h
1 /* Copyright (C) 2004-2009 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 _TRANSLATION_ALONG_FIXED_AXIS_H_
21 #define _TRANSLATION_ALONG_FIXED_AXIS_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class TranslationAlongFixedAxis : public Function<fmatvec::Vec3(Arg)> {
30  private:
31  fmatvec::Vec3 a;
32  fmatvec::Vec3 zeros(const typename B::DRetDArg &x) { return fmatvec::Vec3(x.rows()); }
33  public:
35  TranslationAlongFixedAxis(const fmatvec::Vec3 &a_) : a(a_) { }
36  int getArgSize() const { return 1; }
37  fmatvec::Vec3 operator()(const Arg &arg) { return a*arg; }
38  typename B::DRetDArg parDer(const Arg &arg) { return a; }
39  typename B::DRetDArg parDerDirDer(const Arg &arg1Dir, const Arg &arg1) { return typename B::DRetDArg(1); }
40  typename B::DDRetDDArg parDerParDer(const double &arg) { THROW_MBSIMERROR("parDerParDer is not available for given template parameters."); }
41  bool constParDer() const { return true; }
42  void initializeUsingXML(xercesc::DOMElement *element) {
43  xercesc::DOMElement *e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"axisOfTranslation");
44  a=FromMatStr<fmatvec::Vec3>::cast((MBXMLUtils::X()%MBXMLUtils::E(e)->getFirstTextChild()->getData()).c_str());
45  }
46  };
47 
48  template<>
49  inline fmatvec::Vec3 TranslationAlongFixedAxis<double>::parDerParDer(const double &arg) { return fmatvec::Vec3(); }
50 
51 }
52 
53 #endif
Definition: translation_along_fixed_axis.h:28
Definition: planar_contour.h:31
Definition: utils.h:181

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