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Element.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MDL_ELEMENT_H_
31 #define _RL_MDL_ELEMENT_H_
32 
33 #include <string>
34 #include <rl/math/Real.h>
35 
36 namespace rl
37 {
38  namespace mdl
39  {
40  class Compound;
41 
42  class Element
43  {
44  public:
45  Element();
46 
47  virtual ~Element();
48 
49  virtual void forwardAcceleration() = 0;
50 
51  virtual void forwardDynamics1() = 0;
52 
53  virtual void forwardDynamics2() = 0;
54 
55  virtual void forwardDynamics3() = 0;
56 
57  virtual void forwardPosition() = 0;
58 
59  virtual void forwardVelocity() = 0;
60 
61  const ::std::string& getName() const;
62 
63  virtual void inverseDynamics1() = 0;
64 
65  virtual void inverseDynamics2() = 0;
66 
67  virtual void inverseForce() = 0;
68 
69  virtual void inverseVelocity1(const ::rl::math::Real& lambda) = 0;
70 
71  virtual void inverseVelocity2() = 0;
72 
73  virtual void inverseVelocity3() = 0;
74 
75  void setName(const ::std::string& name);
76 
78 
79  protected:
80 
81  private:
82  ::std::string name;
83  };
84  }
85 }
86 
87 #endif // _RL_MDL_ELEMENT_H_