Actin®  Version 5.3.0
Software for Robotics Simulation and Control
ecBaseDiscreteDynamicSystem.h
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1 #ifndef ecBaseDiscreteDynamicSystem_H_
2 #define ecBaseDiscreteDynamicSystem_H_
3 //------------------------------------------------------------------------------
4 // Copyright (c) 2005-2013 Energid Technologies. All rights reserved.
5 //
9 //
10 //------------------------------------------------------------------------------
11 #include <foundation/foundation_config.h> // Required to be first header.
13 #include <xml/ecXmlBasicType.h>
14 #include <xml/ecXmlCompType.h>
15 #include <xml/ecXmlEnumType.h>
16 
17 
20 
24 {
25 public:
28  (
29  );
30 
33  (
34  );
35 
38  (
39  const EcBaseDiscreteDynamicSystem& orig
40  );
41 
44  (
45  const EcBaseDiscreteDynamicSystem& orig
46  );
47 
49  EcBoolean operator==
50  (
51  const EcBaseDiscreteDynamicSystem& orig
52  ) const;
53 
55  virtual EcBoolean xmlInit
56  (
57  ) EC_OVERRIDE;
58 
60  virtual void registerComponents
61  (
62  ) EC_OVERRIDE;
63 
64 
69  virtual const EcReArray& effectiveA
70  (
71  )const = 0;
72 
74  virtual const EcReArray& effectiveB
75  (
76  )const = 0;
77 
79  virtual const EcReArray& effectiveC
80  (
81  )const = 0;
82 
84  virtual const EcReArray& effectiveD
85  (
86  )const = 0;
87 
89  virtual EcReal timestep
90  (
91  )const;
92 
94  virtual void setTimestep
95  (
96  const EcReal& time
97  );
98 
100  virtual const EcDynamicSystemState& dynamicSystemState
101  (
102  )const ;
103 
105  virtual void setDynamicSystemStatePointer
106  (
107  const EcDynamicSystemState& state
108  ) ;
109 
110 
111 protected:
114 
117 
120 };
121 
122 #endif // ecBaseDiscreteDynamicSystem_H_
Holds a class to describe real arrays. Includes operations such as addition, subtraction, and multiplication.
Definition: ecReArray.h:15
#define EC_OVERRIDE
Add wrapper around c++11 override keyword.
Definition: ecMacros.h:36
virtual EcBoolean xmlInit() EC_OVERRIDE
xmlInitialize
EcXmlReal m_Timestep
the current time
#define EC_FOUNDATION_DYNAMICSYSTEMS_DECL
dynamicSystems directory
virtual void registerComponents()=0
register components
An XML object that holds a compound set of XML data.
Definition: ecXmlCompType.h:23
bool EcBoolean
Boolean (0 or 1)
Definition: ecTypes.h:21
EcF64 EcReal
Alias for 64-bit float.
Definition: ecTypes.h:30
const EcDynamicSystemState * m_pDynamicSystemState
pointer to the dynamic system state
Configuration header for the foundation hierarchy.
EcReArray EcDynamicSystemState
typdefs
static const EcDynamicSystemState m_theDefualtDynamicSystemState
the default dynamic system state
Created by Energid Technologies www.energid.com
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