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fixed_relative_frame.h
1 /* Copyright (C) 2004-2014 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@googlemail.com
18  */
19 
20 #ifndef _FIXED_RELATIVE_FRAME_H__
21 #define _FIXED_RELATIVE_FRAME_H__
22 
23 #include "mbsim/frames/frame.h"
24 
25 namespace MBSim {
26 
31  class FixedRelativeFrame : public Frame {
32 
33  public:
34  FixedRelativeFrame(const std::string &name = "dummy", const fmatvec::Vec3 &r=fmatvec::Vec3(), const fmatvec::SqrMat3 &A=fmatvec::SqrMat3(fmatvec::EYE), Frame *refFrame=0) : Frame(name), R(refFrame), RrRP(r), ARP(A) {
35  }
36 
37  std::string getType() const { return "FixedRelativeFrame"; }
38 
39  virtual void init(InitStage stage);
40 
41  void setRelativePosition(const fmatvec::Vec3 &r) { RrRP = r; }
42  void setRelativeOrientation(const fmatvec::SqrMat3 &A) { ARP = A; }
43  void setFrameOfReference(Frame *frame) { R = frame; }
44  void setFrameOfReference(const std::string &frame) { saved_frameOfReference = frame; }
45 
46  const fmatvec::Vec3& getRelativePosition() const { return RrRP; }
47  const fmatvec::SqrMat3& getRelativeOrientation() const { return ARP; }
48  const Frame* getFrameOfReference() const { return R; }
49 
50  const fmatvec::Vec3& evalGlobalRelativePosition() { if(updPos) updatePositions(); return WrRP; }
51 
52  void updatePositions();
53  void updateVelocities();
54  void updateAccelerations();
55  void updateJacobians(int j=0);
56  void updateGyroscopicAccelerations();
57 
58  virtual void initializeUsingXML(xercesc::DOMElement *element);
59 
60  protected:
61  Frame *R;
62  fmatvec::Vec3 RrRP, WrRP;
63  fmatvec::SqrMat3 ARP;
64  std::string saved_frameOfReference;
65  };
66 
67 }
68 
69 #endif
virtual void init(InitStage stage)
plots time series header
Definition: fixed_relative_frame.cc:30
cartesian frame on rigid bodies
Definition: fixed_relative_frame.h:31
InitStage
The stages of the initialization.
Definition: element.h:97
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
std::string getType() const
Definition: fixed_relative_frame.h:37
Frame(const std::string &name="dummy")
constructor
Definition: frame.cc:36

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