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generalized_velocitiy_constraint.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2  * This library is free software; you can redistribute it and/or
3  * modify it under the terms of the GNU Lesser General Public
4  * License as published by the Free Software Foundation; either
5  * version 2.1 of the License, or (at your option) any later version.
6  *
7  * This library is distributed in the hope that it will be useful,
8  * but WITHOUT ANY WARRANTY; without even the implied warranty of
9  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
10  * Lesser General Public License for more details.
11  *
12  * You should have received a copy of the GNU Lesser General Public
13  * License along with this library; if not, write to the Free Software
14  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
15  *
16  * Contact: martin.o.foerg@googlemail.com
17  */
18 
19 #ifndef _GENERALIZED_VELOCITY_CONSTRAINT_H
20 #define _GENERALIZED_VELOCITY_CONSTRAINT_H
21 
22 #include "mbsim/constraints/generalized_dual_constraint.h"
23 #include "mbsim/functions/time_dependent_function.h"
24 #include "mbsim/functions/state_dependent_function.h"
25 
26 namespace MBSim {
27 
29 
30  public:
31  GeneralizedVelocityConstraint(const std::string &name="") : GeneralizedDualConstraint(name), f(NULL) { }
32  ~GeneralizedVelocityConstraint() { delete f; }
33 
34  void init(InitStage stage);
35 
36  void calcxSize();
37 
38  // NOTE: we can not use a overloaded setConstraintFunction here due to restrictions in XML but define them for convinience in c++
39  void setGeneralConstraintFunction(Function<fmatvec::VecV(fmatvec::VecV,double)>* f_) {
40  f = f_;
41  f->setParent(this);
42  f->setName("Constraint");
43  }
44  void setTimeDependentConstraintFunction(Function<fmatvec::VecV(double)>* f_) {
45  setGeneralConstraintFunction(new TimeDependentFunction<fmatvec::VecV>(f_));
46  }
47  void setStateDependentConstraintFunction(Function<fmatvec::VecV(fmatvec::VecV)>* f_) {
48  setGeneralConstraintFunction(new StateDependentFunction<fmatvec::VecV>(f_));
49  }
50  void setConstraintFunction(Function<fmatvec::VecV(fmatvec::VecV,double)>* f_) { setGeneralConstraintFunction(f_); }
51  void setConstraintFunction(Function<fmatvec::VecV(double)>* f_) { setTimeDependentConstraintFunction(f_); }
52  void setConstraintFunction(Function<fmatvec::VecV(fmatvec::VecV)>* f_) { setStateDependentConstraintFunction(f_); }
53 
54  virtual void setUpInverseKinetics();
55 
56  void updatexd();
57  void updateGeneralizedCoordinates();
58  void updateGeneralizedJacobians(int j=0);
59 
60  void initializeUsingXML(xercesc::DOMElement * element);
61 
62  virtual std::string getType() const { return "GeneralizedVelocityConstraint"; }
63 
64  private:
66  };
67 
68 }
69 
70 #endif
virtual std::string getType() const
Definition: generalized_velocitiy_constraint.h:62
Definition: time_dependent_function.h:28
Class for dual generalized constraints.
Definition: generalized_dual_constraint.h:32
Definition: generalized_velocitiy_constraint.h:28
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
Definition: state_dependent_function.h:28
void setName(const std::string &str)
Definition: element.h:163
void init(InitStage stage)
plots time series header
Definition: generalized_velocitiy_constraint.cc:35

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