All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Pages
generalized_gear_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_GEAR_CONSTRAINT_H
20 #define _GENERALIZED_GEAR_CONSTRAINT_H
21 
22 #include "mbsim/constraints/generalized_constraint.h"
23 
24 namespace MBSim {
25 
26  class RigidBody;
27 
29 
30  public:
31  GeneralizedGearConstraint(const std::string &name="") : GeneralizedConstraint(name), bd(NULL) { }
32 
33  void init(InitStage stage);
34 
35  void setDependentRigidBody(RigidBody* body_) { bd=body_; }
36  void addIndependentRigidBody(RigidBody *body, double ratio);
37 
38  void updateGeneralizedCoordinates();
39  void updateGeneralizedJacobians(int j=0);
40  void setUpInverseKinetics();
41 
42  void initializeUsingXML(xercesc::DOMElement * element);
43 
44  virtual std::string getType() const { return "GeneralizedGearConstraint"; }
45 
46  private:
47  std::vector<RigidBody*> bi;
48  RigidBody *bd;
49  std::vector<double> ratio;
50 
51  std::string saved_DependentBody;
52  std::vector<std::string> saved_IndependentBody;
53  };
54 
55 }
56 
57 #endif
virtual std::string getType() const
Definition: generalized_gear_constraint.h:44
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:298
Class for generalized constraints.
Definition: generalized_constraint.h:32
void init(InitStage stage)
plots time series header
Definition: generalized_gear_constraint.cc:36
Definition: generalized_gear_constraint.h:28
rigid bodies with arbitrary kinematics
Definition: rigid_body.h:52

Impressum / Disclaimer / Datenschutz Generated by doxygen 1.8.5 Valid HTML