generalized_position_excitation.h

/* Copyright (C) 2004-2015 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@gmail.com
 */
 
#ifndef _GENERALIZED_POSITION_EXCITATION_H_
#define _GENERALIZED_POSITION_EXCITATION_H_
 
#include "mbsim/links/generalized_kinematic_excitation.h"
#include "mbsim/functions/function.h"
 
namespace MBSim {
 
  class GeneralizedPositionExcitation : public GeneralizedKinematicExcitation {
    friend class GeneralizedPositionConstraint;
    protected:
      Function<fmatvec::VecV(double)> *f;
    public:
      GeneralizedPositionExcitation(const std::string &name="") : GeneralizedKinematicExcitation(name) { }
      ~GeneralizedPositionExcitation();
 
      void init(InitStage stage, const InitConfigSet &config) override;
 
      void updateGeneralizedPositions() override;
      void updateGeneralizedVelocities() override;
      void updatewb() override;
 
      void setExcitationFunction(Function<fmatvec::VecV(double)>* f_, bool takeOwnerShip = true) {
        f = f_;
        f->setParent(this);
        f->setName("Excitation");
        deletef = takeOwnerShip;
      }
 
      void initializeUsingXML(xercesc::DOMElement * element) override;
 
    private:
      bool deletef { true };
  };
 
}
 
#endif