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suTrackPoint.h

// suTrackPoint.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002-2003
// Authors: Frank C. Anderson, Darryl G. Thelen
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suTrackPoint_h__
#define __suTrackPoint_h__


//============================================================================
// INCLUDE
//============================================================================
#include "suTrackControllerDLL.h"
#include <rdModel.h>
#include "suTrackObject.h"


//=============================================================================
//=============================================================================
class SUTRACKCONTROLLER_API suTrackPoint : public suTrackObject
{

//=============================================================================
// DATA
//=============================================================================
public:

protected:
   int _body;
   double _point[3];

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   suTrackPoint(int aBody,double aPoint[]);
   virtual ~suTrackPoint();
   void setNull();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   inline bool* getActive() { return _active;};
   inline bool getActive(int i) { return _active[i];};
   inline setActive(int i, bool value) { _active[i]=value;};

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   virtual void computePositionError(double time,double posErr[]);
   virtual void computeVelocityError(double time,double velErr[]);
   virtual void computeDesiredAccelerations(double time,double acc[]);
   virtual void computeJacobian();
   virtual void computeEffectiveMassMatrix();


//=============================================================================
}; // END of class suTrackPoint
//=============================================================================
//=============================================================================

#endif // __suTrackPoint_h__

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