constraint.h

/* Copyright (C) 2004-2009 MBSim Development Team
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@googlemail.com
 */
 
#ifndef _CONSTRAINT_H
#define _CONSTRAINT_H
 
#include "mbsim/element.h"
 
namespace MBSim {
 
  class Constraint : public Element {
    public:
      Constraint(const std::string &name);
      virtual void updateGeneralizedCoordinates() {}
      virtual void updateGeneralizedJacobians(int j=0) { }
      virtual void updatedx();
      virtual void updatexd() { }
      virtual void calcxSize() { xSize = 0; }
      const fmatvec::Vec& getx() const { return x; }
      fmatvec::Vec& getx() { return x; }
      int getxInd() { return xInd; }
      virtual void setxInd(int xInd_) { xInd = xInd_; };
      int getxSize() const { return xSize; }
      int getisInd() { return isInd; }
      virtual void setisInd(int isInd_) { isInd = isInd_; }
      int getisSize() { return isSize; }
      virtual void updatexRef(fmatvec::Vec& xParent);
      virtual void updatexdRef(fmatvec::Vec& xdParent);
      virtual void updatedxRef(fmatvec::Vec& dxParent);
      virtual void calcisSize() { isSize = 0; }
 
      virtual void aboutToUpdateInternalState() {}
 
      virtual void postprocessing() {}
 
      virtual void initz();
      virtual void writez(H5::GroupBase *group);
      virtual void readz0(H5::GroupBase *group);
      virtual void setUpInverseKinetics() { }
      std::shared_ptr<OpenMBV::Group> getOpenMBVGrp() override {return std::shared_ptr<OpenMBV::Group>();}
      bool getUpdateGeneralizedCoordinates() const { return updGC; }
      bool getUpdateGeneralizedJacobians() const { return updGJ; }
      virtual void updateInternalStateRef(fmatvec::Vec& cur, fmatvec::Vec& next);
      void resetUpToDate() override { updGC = true; updGJ = true; }
 
      const fmatvec::Vec& evalxd();
 
      void createPlotGroup() override;
 
    protected:
      fmatvec::Vec x;
 
      fmatvec::Vec xd;
 
      fmatvec::Vec dx;
 
      fmatvec::Vec x0;
 
      fmatvec::Vec curis, nextis;
 
      int xSize, xInd;
      int isSize, isInd;
      bool updGC, updGJ;
  };
 
}
 
#endif