1s_neutral_cosserat.h

/*
 * neutral_contour_1s_cosserat.h
 *
 *  Created on: 25.10.2013
 *      Author: zwang
 */
 
#ifndef CONTOUR_1S_NEUTRAL_COSSERAT_H_
#define CONTOUR_1S_NEUTRAL_COSSERAT_H_
 
#include <mbsimFlexibleBody/flexible_body/1s_cosserat.h>
#include "mbsimFlexibleBody/pointer.h"
#include <mbsimFlexibleBody/contours/contour_1s_neutral_factory.h>
#include "ncc/nurbs_velocity_1s.h"
#include "ncc/nurbs_position_1s.h"
#include "ncc/nurbs_angle_1s.h"
#include "ncc/nurbs_dotangle_1s.h"
 
namespace MBSimFlexibleBody {
  
  class Contour1sNeutralCosserat : public MBSimFlexibleBody::Contour1sNeutralFactory {
    public:
      Contour1sNeutralCosserat(const std::string &name_);
       ~Contour1sNeutralCosserat() override;
       void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      virtual NeutralNurbsPosition1s* createNeutralPosition();
      virtual NeutralNurbsVelocity1s* createNeutralVelocity();
      virtual NeutralNurbsAngle1s* createNeutralAngle();
      virtual NeutralNurbsDotangle1s* createNeutralDotangle();
 
       fmatvec::Vec3 evalPosition(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override;
       fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
       fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
 
      void updatePositions(MBSim::Frame *frame) override;
      void updateVelocities(MBSim::Frame *frame) override;
      void updateJacobians(MBSim::Frame *frame, int j=0) override;
 
       MBSim::ContactKinematics * findContactPairingWith(const std::type_info &type0, const std::type_info &type1) override;
 
      void setTransNodes(const fmatvec::VecInt & transNodes_);
      void setRotNodes(const fmatvec::VecInt & rotNodes_);
      void setNodeOffest(const double nodeOffset_);
 
      double getuMax() const {
        return uMax;
      }
      
      double getuMin() const {
        return uMin;
      }
 
      void setFrameOfReference(MBSim::Frame *frame) { R = frame; }
 
      void resetUpToDate() override;
      
    protected:
      fmatvec::VecInt transNodes;
 
      fmatvec::VecInt rotNodes;
 
      double nodeOffset;
 
      CardanPtr ANGLE;
      NeutralNurbsPosition1s* NP;
      NeutralNurbsVelocity1s* NV;
      NeutralNurbsAngle1s* NA;
      NeutralNurbsDotangle1s* NDA;
 
      MBSim::Frame *R;
 
  };
 
} /* namespace MBSimFlexibleBody */
#endif