1s.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@googlemail.com
 */
 
#ifndef _FLEXIBLE_BODY_1S_H_
#define _FLEXIBLE_BODY_1S_H_
 
#include "mbsimFlexibleBody/flexible_body.h"
#include "mbsimFlexibleBody/frames/frame_1s.h"
#include <openmbvcppinterface/spineextrusion.h>
 
namespace MBSimFlexibleBody {
 
  class FlexibleBody1s : public FlexibleBodyContinuum<double> {
    public:
      FlexibleBody1s(const std::string &name, bool openStructure);
 
      void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      void plot() override;
 
      void setLength(double L_) { L = L_; }
      double getLength() const { return L; }
 
      bool getOpenStructure() const { return openStructure; }
 
      void addFrame(Frame1s *frame);
      using FlexibleBodyContinuum<double>::addFrame;
 
      virtual void updatePositions(Frame1s* frame);
      virtual void updateVelocities(Frame1s* frame);
      virtual void updateAccelerations(Frame1s* frame);
      virtual void updateJacobians(Frame1s* frame, int j=0);
      virtual void updateGyroscopicAccelerations(Frame1s* frame);
 
      virtual fmatvec::Vec3 getPosition(double s);
      virtual fmatvec::SqrMat3 getOrientation(double s);
      virtual fmatvec::Vec3 getAngles(double s) { return fmatvec::Vec3(); }
 
      void setOpenMBVSpineExtrusion(const std::shared_ptr<OpenMBV::SpineExtrusion> &body) { openMBVBody=body; }
 
    protected:
      double L;
 
      bool openStructure;
 
      Frame1s P;
  };
 
}
 
#endif