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rdPolynomialSetPoint.h

// rdPolynomialSetPoint.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdPolynomialSetPoint_h__
#define __rdPolynomialSetPoint_h__

#include <rdModel.h>
#include <rdSetPoint.h>
#include "rdActuators.h"


//=============================================================================
//=============================================================================
class RDACTUATORS_API rdPolynomialSetPoint : public rdSetPoint
{

//=============================================================================
// DATA
//=============================================================================
public:
   static const char PROP_NORMAL_STIFFNESS[];
   static const char PROP_NORMAL_VISCOSITY[];
   static const char PROP_STIFFNESS_POWER[];
   static const char PROP_VISCOSITY_POWER[];

protected:
   double _kNP;
   double _kNV;
   double _powNP;
   double _powNV;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdPolynomialSetPoint(int aBodyA=0,int aBodyB=0);
   rdPolynomialSetPoint(IDOM_Element *aElement);
   rdPolynomialSetPoint(const rdPolynomialSetPoint &aContact);
   virtual ~rdPolynomialSetPoint();
   virtual rdActuator* copy() const;
   virtual rdActuator* copy(IDOM_Element *aElement) const;
private:
   void setNull();

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
public:
   rdPolynomialSetPoint& operator=(const rdPolynomialSetPoint &aActuator);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // NORMAL STIFFNESS
   void setNormalStiffnessConstant(double aKNP);
   double getNormalStiffnessConstant() const;
   // NORMAL VISCOSITY
   void setNormalViscosityConstant(double aKNV);
   double getNormalViscosityConstant() const;
   // STIFFNESS POWER
   void setStiffnessPower(double aPower);
   double getStiffnessPower() const;
   // VISCOSITY POWER
   void setViscosityPower(double aPower);
   double getViscosityPower() const;

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

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------


   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   virtual bool check() 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 rdPolynomialSetPoint
//=============================================================================
//=============================================================================

#endif // __rdPolynomialSetPoint_h__

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