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Program listing for file mechanics/src/collision/native/bodies/SphereLDS.hpp

Program listing for file mechanics/src/collision/native/bodies/SphereLDS.hpp#

 1#ifndef SphereLDS_h
 2#define SphereLDS_h
 3
 4#include "MechanicsFwd.hpp"
 5#include "LagrangianDS.hpp"
 6
 7class SphereLDS : public LagrangianDS, public std::enable_shared_from_this<SphereLDS>
 8{
 9protected:
10
11  ACCEPT_SERIALIZATION(SphereLDS);
12
13  double radius;
14  double massValue;
15  double I;
16
17  SphereLDS() {};
18
19public:
20
21  SphereLDS(double, double, SP::SiconosVector, SP::SiconosVector);
22
23  ~SphereLDS();
24
25  inline double getQ(unsigned int pos)
26  {
27    assert(pos < _ndof);
28    return (*_q[0])(pos);
29  };
30  inline double getVelocity(unsigned int pos)
31  {
32    assert(pos < _ndof);
33    return (*_q[1])(pos);
34  };
35
36  inline double getMassValue() const
37  {
38    return massValue;
39  };
40
41  inline double getRadius() const
42  {
43    return radius;
44  };
45
46  void computeMass();
47  void computeMass(SP::SiconosVector)
48  {
49    THROW_EXCEPTION("SphereLDS::computeMass(vector) - not implemented");
50  }
51
52  void computeFGyr(SP::SiconosVector, SP::SiconosVector);
53
54  void computeFGyr();
55
56  void computeJacobianFGyrq();
57  void computeJacobianFGyrqDot();
58
59  void computeJacobianFGyrq(SP::SiconosVector, SP::SiconosVector);
60  void computeJacobianFGyrqDot(SP::SiconosVector, SP::SiconosVector);
61
62  ACCEPT_BASE_VISITORS(LagrangianDS);
63
64};
65#endif