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floating_relative_flexible_contour_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 _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__
21 #define _FLOATING_RELATIVE_FLEXIBLE_CONTOUR_FRAME_H__
22 
23 #include "mbsim/frames/floating_relative_contour_frame.h"
24 #include "mbsim/frames/fixed_contour_frame.h"
25 
26 namespace MBSim {
27  class Contour;
28 }
29 
30 namespace MBSimFlexibleBody {
31 
37 
38  public:
39  FloatingRelativeFlexibleContourFrame(const std::string &name = "dummy", MBSim::Contour *contour = NULL);
40 
41  std::string getType() const { return "FloatingRelativeFlexibleContourFrame"; }
42 
43  void updatePositions();
44  void updateVelocities();
45  void updateAccelerations();
46  void updateJacobians(int j=0);
47  void updateGyroscopicAccelerations();
48 
49  void resetUpToDate();
50 
51  protected:
53 
54  };
55 
56 }
57 
58 #endif
tbd
Definition: floating_relative_flexible_contour_frame.h:36

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