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00001 // ArticulatedComponent.h: interface for the ArticulatedComponent class. 00002 // 00004 00005 #ifndef ARTICULATEDCOMPONENT_H 00006 #define ARTICULATEDCOMPONENT_H 00007 00008 #include "LinkContactInfo.h" 00009 #include "ComposedPhysicalObject.h" 00010 #include "SymmetricMatrix3.h" 00011 #include "Vector3.h" 00012 00016 class ArticulatedComponent : public ComposedPhysicalObject { 00017 public: 00018 ArticulatedComponent(std::string label); 00019 00021 virtual ~ArticulatedComponent(); 00022 00024 SymmetricMatrix3 IStar; 00025 SymmetricMatrix3 IStar0; 00026 Vector3 beta; 00027 Vector3 betaExternal; 00028 Vector3 betaStar; 00029 00032 Vector2 aLocal; 00033 00036 Vector2 vLocal; 00037 00039 void computeIStar0(); 00040 00041 unsigned int nContacts; 00042 00044 LinkContactInfoPVector K; 00045 00048 LinkContactInfoVector Q; 00049 00051 void deleteK(); 00052 }; 00053 00054 #endif //ARTICULATEDCOMPONENT_H
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