19 #ifndef _GENERALIZED_POSITION_CONSTRAINT_H
20 #define _GENERALIZED_POSITION_CONSTRAINT_H
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23 #include "mbsim/functions/function.h"
35 void setConstraintFunction(
Function<fmatvec::VecV(
double)>* f_) {
41 void setUpInverseKinetics();
43 void updateGeneralizedCoordinates();
44 void updateGeneralizedJacobians(
int j=0);
46 void initializeUsingXML(xercesc::DOMElement * element);
48 virtual std::string
getType()
const {
return "GeneralizedPositionConstraint"; }
Definition: generalized_position_constraint.h:27
virtual std::string getType() const
Definition: generalized_position_constraint.h:48
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
void init(Element::InitStage stage)
plots time series header
Definition: generalized_position_constraint.cc:35
InitStage
The stages of the initialization.
Definition: element.h:97
Definition: planar_contour.h:31
std::string name
name of element
Definition: element.h:298
void setName(const std::string &str)
Definition: element.h:163