generalized_position_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 _GENERALIZED_POSITION_CONSTRAINT_H
#define _GENERALIZED_POSITION_CONSTRAINT_H
 
#include "mbsim/constraints/generalized_dual_constraint.h"
#include "mbsim/functions/function.h"
 
namespace MBSim {
 
  class GeneralizedPositionConstraint : public GeneralizedDualConstraint {
 
    public:
      GeneralizedPositionConstraint(const std::string &name="") : GeneralizedDualConstraint(name), f(nullptr) { }
      ~GeneralizedPositionConstraint() override { delete f; }
 
      void init(Element::InitStage stage, const InitConfigSet &config) override;
 
      void setConstraintFunction(Function<fmatvec::VecV(double)>* f_) {
        f = f_;
        f->setParent(this);
        f->setName("Constraint");
      }
 
      void setUpInverseKinetics() override;
 
      void updateGeneralizedCoordinates() override;
      void updateGeneralizedJacobians(int j=0) override;
 
      void initializeUsingXML(xercesc::DOMElement * element) override;
 
    private:
      Function<fmatvec::VecV(double)> *f;
  };
 
}
 
#endif