20 #ifndef _FLOATING_RELATIVE_CONTOUR_FRAME_H__
21 #define _FLOATING_RELATIVE_CONTOUR_FRAME_H__
23 #include "mbsim/frames/contour_frame.h"
33 std::string
getType()
const {
return "FloatingRelativeContourFrame"; }
35 void setRelativePosition(
const fmatvec::Vec3 &r) { RrRP = r; }
36 void setRelativeOrientation(
const fmatvec::SqrMat3 &A) { ARP = A; }
37 void setFrameOfReference(
Frame *frame) { R = frame; }
39 const fmatvec::Vec3& getRelativePosition()
const {
return RrRP; }
40 const fmatvec::SqrMat3& getRelativeOrientation()
const {
return ARP; }
41 const Frame* getFrameOfReference()
const {
return R; }
43 const fmatvec::Vec3& evalGlobalRelativePosition() {
if(updPos) updatePositions();
return WrRP; }
45 void updatePositions();
46 void updateVelocities();
47 void updateAccelerations();
48 void updateJacobians(
int j=0);
49 void updateGyroscopicAccelerations();
53 fmatvec::Vec3 RrRP, WrRP;
Definition: floating_relative_contour_frame.h:27
std::string getType() const
Definition: floating_relative_contour_frame.h:33
Definition: contour_frame.h:27
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
Frame(const std::string &name="dummy")
constructor
Definition: frame.cc:36