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suGeneralizedForces.h

// suGeneralizedForces.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson & Saryn Goldberg
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suGeneralizedForces_h__
#define __suGeneralizedForces_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdMath.h>
#include <rdTools.h>
#include <rdModel.h>
#include <rdAnalysis.h>
#include "suAnalysesDLL.h"


//=============================================================================
//=============================================================================
class SUANALYSES_API suGeneralizedForces : public rdAnalysis 
{
//=============================================================================
// DATA
//=============================================================================
private:

protected:
   double *_dqdt;
   double *_dudt;
   double *_zero_aY;
   double *_gravGenForces;
   double *_velGenForces;
   double *_actuatorGenForces;
   double *_contactGenForces;
   rdStorage *_gravGenForcesStore;
   rdStorage *_velGenForcesStore;
   rdStorage *_actuatorGenForcesStore;
   rdStorage *_contactGenForcesStore;

//=============================================================================
// METHODS
//=============================================================================
public:
   suGeneralizedForces(rdModel *aModel);
   virtual ~suGeneralizedForces();
private:
   void constructDescription();
   void constructColumnLabels();
   void allocateStorage();
   void deleteStorage();

public:
   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // STORAGE
   void setStorageCapacityIncrements(int aIncrement);
   rdStorage* getGravGenForcesStorage();
   rdStorage* getVelGenForcesStorage();
   rdStorage* getActuatorGenForcesStorage();
   rdStorage* getContactGenForcesStorage();

   //--------------------------------------------------------------------------
   // ANALYSIS
   //--------------------------------------------------------------------------
   virtual int
      begin(int aStep,double aDT,double aT,double *aX,double *aY,
      void *aClientData=NULL);
   virtual int
      analyze(double *aXPrev,double *aYPrev,
      int aStep,double aDT,double aT,double *aX,double *aY,
      void *aClientData=NULL);
   virtual int
      end(int aStep,double aDT,double aT,double *aX,double *aY,
      void *aClientData=NULL);
protected:
   virtual int
      record(double aT,double *aX,double *aY);

   //--------------------------------------------------------------------------
   // IO
   //--------------------------------------------------------------------------
public:
   virtual int
      printResults(char *aBaseName,char *aDir=NULL,double aDT=-1.0,
      char *aExtension=".sto");

//=============================================================================
}; // END of class suGeneralizedForces
//=============================================================================
//=============================================================================


#endif // #ifndef __suGeneralizedForces_h__

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