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rdGeneralizedForce.h

// rdGeneralizedForce.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002, 2003 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdGeneralizedForce_h__
#define __rdGeneralizedForce_h__
//============================================================================
#include "rdModel.h"
#include "rdActuator.h"


//=============================================================================
//=============================================================================
class RDSIMULATION_API rdGeneralizedForce : public rdActuator
{

//=============================================================================
// DATA
//=============================================================================
public:
   static const char PROP_QID[];

protected:
   int _qID;
   double *_utmp;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdGeneralizedForce(int aQID=-1,int aNX=1,int aNY=0,int aNYP=0);
   rdGeneralizedForce(IDOM_Element *aElement,int aNX=1,int aNY=0,int aNYP=0);
   rdGeneralizedForce(const rdGeneralizedForce &aGenForce);
   virtual ~rdGeneralizedForce();
   virtual rdActuator* copy() const;
   virtual rdActuator* copy(IDOM_Element *aElement) const;
private:
   void setNull();

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
public:
   rdGeneralizedForce& operator=(const rdGeneralizedForce &aGenForce);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // CONTROLS
   virtual void setControls(const double aX[]);
   virtual void getControls(double rX[]) const;
   // GENERALIZED COORDINATE
   void setQID(int aQID);
   int getQID() const;

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------
   virtual void apply();

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   virtual void computeActuation();

   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   virtual bool check() const;
   virtual bool isQIDValid() const;

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   virtual void updateObject(bool aDeep=true);
   virtual void updateNode(bool aDeep=true);
   virtual void generateNode(IDOM_Element *aParent);
   void updateData();   

//=============================================================================
}; // END of class rdGeneralizedForce
//=============================================================================
//=============================================================================

#endif // __rdGeneralizedForce_h__

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