19 #ifndef _ISOTROPICROTATIONALSPRINGDAMPER_H_
20 #define _ISOTROPICROTATIONALSPRINGDAMPER_H_
22 #include "mbsim/links/floating_frame_link.h"
49 virtual void updateGeneralizedForces();
50 virtual void updateGeneralizedPositions();
51 virtual void updateGeneralizedVelocities();
61 void setParameters(
double c_,
double d_,
double alpha0_) {
67 void setMomentDirection(
const fmatvec::Mat3xV& md);
double c
stiffness, damping, relaxed angle
Definition: isotropic_rotational_spring_damper.h:73
floating frame link
Definition: floating_frame_link.h:43
Isotropic rotational spring damper force law. This class connects two frames and applies a torque whi...
Definition: isotropic_rotational_spring_damper.h:36
virtual bool isActive() const
Definition: isotropic_rotational_spring_damper.h:55
virtual bool isSingleValued() const
asks the link if it contains single valued force laws that contribute to the right-hand side vector h...
Definition: isotropic_rotational_spring_damper.h:57
std::string name
name of element
Definition: element.h:298
virtual ~IsotropicRotationalSpringDamper()
destructor
Definition: isotropic_rotational_spring_damper.cc:34
IsotropicRotationalSpringDamper(const std::string &name)
constructor
Definition: isotropic_rotational_spring_damper.cc:30
virtual bool gActiveChanged()
Definition: isotropic_rotational_spring_damper.h:56