fixed_frame_link.h

/* Copyright (C) 2004-2016 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 _FIXED_FRAME_LINK_H_
#define _FIXED_FRAME_LINK_H_
 
#include "mbsim/links/frame_link.h"
 
namespace MBSim {
  class FixedFrameLink : public FrameLink {
    public:
      FixedFrameLink(const std::string &name);
 
      void init(InitStage stage, const InitConfigSet &config) override;
 
      void calcSize() override { nla = nF + nM; updSize = false; }
 
      void updateh(int i=0) override;
 
      void updateVelocities() override;
      void updateGeneralizedPositions() override;
      void updateGeneralizedVelocities() override;
      void updateForceDirections() override;
 
    protected:
      int nF, nM;
  };
}
 
#endif