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ArticulatedComponent.h

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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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