floating_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 _FLOATING_FRAME_LINK_H_
#define _FLOATING_FRAME_LINK_H_
 
#include "mbsim/links/frame_link.h"
#include "mbsim/frames/floating_relative_frame.h"
#include "mbsim/utils/index.h"
 
namespace MBSim {
  class FloatingFrameLink : public FrameLink {
    public:
      enum FrameOfReference {
        firstFrame=0,
        secondFrame,
        unknown
      };
 
      FloatingFrameLink(const std::string &name);
 
      void init(InitStage stage, const InitConfigSet &config) override;
 
      void calcSize() override;
      void calclaSize(int j) override;
      void calcgSize(int j) override;
      void calcgdSize(int j) override;
      void calcrFactorSize(int j) override;
      void calccorrSize(int j) override;
 
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
      void updateW(int i = 0) override;
      void updateh(int i = 0) override;
      void updateg() override;
      void updategd() override;
 
      void setFrameOfReference(FrameOfReference refFrame_) { refFrame = refFrame_; }
 
      void resetUpToDate() override;
      void updatePositions(Frame *frame) override;
      void updateVelocities() override;
      void updateGeneralizedPositions() override;
      void updateGeneralizedVelocities() override;
      void updateForceDirections() override;
 
      virtual fmatvec::VecV evalGeneralizedRelativePositionOfRotation() { return x; }
 
    protected:
      fmatvec::Mat3xV forceDir, momentDir;
 
      FrameOfReference refFrame{firstFrame};
 
      FloatingRelativeFrame C;
  };
}
 
#endif