MBDyn-1.7.3
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups
rbk_impl.h
Go to the documentation of this file.
1 /* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/base/rbk_impl.h,v 1.9 2017/01/12 14:46:10 masarati Exp $ */
2 /*
3  * MBDyn (C) is a multibody analysis code.
4  * http://www.mbdyn.org
5  *
6  * Copyright (C) 1996-2017
7  *
8  * Pierangelo Masarati <masarati@aero.polimi.it>
9  * Paolo Mantegazza <mantegazza@aero.polimi.it>
10  *
11  * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
12  * via La Masa, 34 - 20156 Milano, Italy
13  * http://www.aero.polimi.it
14  *
15  * Changing this copyright notice is forbidden.
16  *
17  * This program is free software; you can redistribute it and/or modify
18  * it under the terms of the GNU General Public License as published by
19  * the Free Software Foundation (version 2 of the License).
20  *
21  *
22  * This program is distributed in the hope that it will be useful,
23  * but WITHOUT ANY WARRANTY; without even the implied warranty of
24  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
25  * GNU General Public License for more details.
26  *
27  * You should have received a copy of the GNU General Public License
28  * along with this program; if not, write to the Free Software
29  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
30  */
31 
32 /* Rigid body kinematics: structure, handling etc. */
33 
34 #ifndef RBK_IMPL_H
35 #define RBK_IMPL_H
36 
37 #include "rbk.h"
38 #include "tpldrive.h"
39 
41 protected:
48 
49 public:
52  const Mat3x3& R,
53  const Vec3& V,
54  const Vec3& W,
55  const Vec3& XPP,
56  const Vec3& WP);
57  virtual ~ConstRigidBodyKinematics(void);
58  virtual const Vec3& GetX(void) const;
59  virtual const Mat3x3& GetR(void) const;
60  virtual const Vec3& GetV(void) const;
61  virtual const Vec3& GetW(void) const;
62  virtual const Vec3& GetXPP(void) const;
63  virtual const Vec3& GetWP(void) const;
64 };
65 
67 private:
74 
75 public:
77  const TplDriveCaller<Vec3> *pXDrv,
78  const TplDriveCaller<Vec3> *pThetaDrv,
79  const TplDriveCaller<Vec3> *pVDrv,
80  const TplDriveCaller<Vec3> *pWDrv,
81  const TplDriveCaller<Vec3> *pXPPDrv,
82  const TplDriveCaller<Vec3> *pWPDrv);
83  virtual ~DriveRigidBodyKinematics(void);
84  virtual void Update(void);
85 };
86 
87 #endif // RBK_IMPL_H
88 
virtual const Vec3 & GetW(void) const
Definition: rbk_impl.cc:80
virtual ~ConstRigidBodyKinematics(void)
Definition: rbk_impl.cc:56
Definition: matvec3.h:98
TplDriveOwner< Vec3 > WPDrv
Definition: rbk_impl.h:73
DriveRigidBodyKinematics(const TplDriveCaller< Vec3 > *pXDrv, const TplDriveCaller< Vec3 > *pThetaDrv, const TplDriveCaller< Vec3 > *pVDrv, const TplDriveCaller< Vec3 > *pWDrv, const TplDriveCaller< Vec3 > *pXPPDrv, const TplDriveCaller< Vec3 > *pWPDrv)
Definition: rbk_impl.cc:97
virtual const Vec3 & GetV(void) const
Definition: rbk_impl.cc:74
virtual const Mat3x3 & GetR(void) const
Definition: rbk_impl.cc:68
virtual ~DriveRigidBodyKinematics(void)
Definition: rbk_impl.cc:114
virtual const Vec3 & GetWP(void) const
Definition: rbk_impl.cc:92
TplDriveOwner< Vec3 > XPPDrv
Definition: rbk_impl.h:72
virtual const Vec3 & GetX(void) const
Definition: rbk_impl.cc:62
virtual const Vec3 & GetXPP(void) const
Definition: rbk_impl.cc:86
TplDriveOwner< Vec3 > VDrv
Definition: rbk_impl.h:70
TplDriveOwner< Vec3 > XDrv
Definition: rbk_impl.h:68
TplDriveOwner< Vec3 > ThetaDrv
Definition: rbk_impl.h:69
TplDriveOwner< Vec3 > WDrv
Definition: rbk_impl.h:71
virtual void Update(void)
Definition: rbk_impl.cc:120