52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
#pragma once
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#include <memory>
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#include <vector>
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#include "CartesianFrame.h"
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#include "Part.h"
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#include "MarkerFrame.h"
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#include "EndFramec.h"
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#include "EulerConstraint.h"
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#include "AbsConstraint.h"
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#include "FullColumn.h"
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namespace MbD {
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class Part;
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class MarkerFrame;
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class EndFramec;
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class PartFrame : public CartesianFrame
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{
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//ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames
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public:
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PartFrame();
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PartFrame(const char* str);
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void initialize();
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void initializeLocally() override;
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void initializeGlobally() override;
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void asFixed();
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void setqX(FColDsptr x);
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FColDsptr getqX();
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void setqE(FColDsptr x);
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FColDsptr getqE();
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void setPart(Part* x);
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Part* getPart();
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void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
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std::shared_ptr<EndFramec> endFrame(std::string name);
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Part* part;
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int iqX, iqE; //Position index of frame variables qX and qE in system list of variables
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FColDsptr qX = std::make_shared<FullColumn<double>>(3);
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FColDsptr qE = std::make_shared<FullColumn<double>>(4);
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FColDsptr qXdot = std::make_shared<FullColumn<double>>(3);
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FColDsptr qEdot = std::make_shared<FullColumn<double>>(4);
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FColDsptr qXddot = std::make_shared<FullColumn<double>>(3);
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FColDsptr qEddot = std::make_shared<FullColumn<double>>(4);
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std::shared_ptr<EulerConstraint> aGeu;
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std::unique_ptr<std::vector<std::shared_ptr<AbsConstraint>>> aGabs;
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std::unique_ptr<std::vector<std::shared_ptr<MarkerFrame>>> markerFrames;
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};
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}
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