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suSpringGeneralizedForce.h

// suSpringGeneralizedForce.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suSpringGeneralizedForce_h__
#define __suSpringGeneralizedForce_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdMath.h>
#include <rdTools.h>
#include <rdStorage.h>
#include <rdModel.h>
#include <rdGeneralizedForce.h>
#include "suActuatorsDLL.h"


//=============================================================================
//=============================================================================
class SUACTUATORS_API suSpringGeneralizedForce : public rdGeneralizedForce 
{
//=============================================================================
// DATA
//=============================================================================
private:
   static const char PROP_REST_LENGTH[];
   static const char PROP_VISCOSITY[];
protected:
   double _restLength;
   double _viscosity;
   double _stiffness;

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

public:

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
   suSpringGeneralizedForce&
      operator=(const suSpringGeneralizedForce &aActuator);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   virtual void setControls(const double aX[]);
   virtual void getControls(double rX[]) const;
   void setRestLength(double aRestLength);
   double getRestLength() const;
   void setViscosity(double aViscosity);
   double getViscosity() const;
   void setStiffness(double aStiffness);
   double getStiffness() const;

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

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

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

//=============================================================================
}; // END of class suSpringGeneralizedForce
//=============================================================================
//=============================================================================


#endif // #ifndef __suSpringGeneralizedForce_h__

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