19 #ifndef _GENERALIZED_CONSTRAINT_H
20 #define _GENERALIZED_CONSTRAINT_H
22 #include "constraint.h"
23 #include "mbsim/utils/boost_parameters.h"
24 #include "mbsim/utils/openmbv_utils.h"
36 std::shared_ptr<OpenMBV::Arrow> FArrow, MArrow;
43 virtual void setSupportFrame(
Frame *frame) { support = frame; }
45 void initializeUsingXML(xercesc::DOMElement * element);
48 BOOST_PARAMETER_MEMBER_FUNCTION( (
void), enableOpenMBVForce, tag, (optional (scaleLength,(
double),1)(scaleSize,(
double),1)(referencePoint,(OpenMBV::Arrow::ReferencePoint),OpenMBV::Arrow::toPoint)(diffuseColor,(
const fmatvec::Vec3&),
"[-1;1;1]")(transparency,(
double),0))) {
49 OpenMBVArrow ombv(diffuseColor,transparency,OpenMBV::Arrow::toHead,referencePoint,scaleLength,scaleSize);
50 FArrow=ombv.createOpenMBV();
54 BOOST_PARAMETER_MEMBER_FUNCTION( (
void), enableOpenMBVMoment, tag, (optional (scaleLength,(
double),1)(scaleSize,(
double),1)(referencePoint,(OpenMBV::Arrow::ReferencePoint),OpenMBV::Arrow::toPoint)(diffuseColor,(
const fmatvec::Vec3&),
"[-1;1;1]")(transparency,(
double),0))) {
55 OpenMBVArrow ombv(diffuseColor,transparency,OpenMBV::Arrow::toDoubleHead,referencePoint,scaleLength,scaleSize);
56 MArrow=ombv.createOpenMBV();
60 std::string saved_DependentBody, saved_supportFrame;
Definition: openmbv_utils.h:54
BOOST_PARAMETER_MEMBER_FUNCTION((void), enableOpenMBVMoment, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0)))
Visualize a moment arrow.
Definition: generalized_constraint.h:54
BOOST_PARAMETER_MEMBER_FUNCTION((void), enableOpenMBVForce, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0)))
Visualize a force arrow acting on frame2.
Definition: generalized_constraint.h:48
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:298
void init(InitStage stage)
plots time series header
Definition: generalized_constraint.cc:30
Class for constraints between generalized coordinates of objects.
Definition: constraint.h:30
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
Class for generalized constraints.
Definition: generalized_constraint.h:32