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root/group/trunk/OOPSE-4/src/constraints/ConstraintElem.hpp

Comparing trunk/OOPSE-4/src/constraints/ConstraintElem.hpp (file contents):
Revision 1930 by gezelter, Wed Jan 12 22:41:40 2005 UTC vs.
Revision 2204 by gezelter, Fri Apr 15 22:04:00 2005 UTC

#	Line 1 | Line 1
1	<	/*
1	>	/*
2		* Copyright (c) 2005 The University of Notre Dame. All Rights Reserved.
3		*
4		* The University of Notre Dame grants you ("Licensee") a
#	Line 38 | Line 38
38		* University of Notre Dame has been advised of the possibility of
39		* such damages.
40		*/
41	<
41	>
42		#ifndef CONSTRAINTS_CONTRAINTELEM_HPP
43		#define CONSTRAINTS_CONTRAINTELEM_HPP
44
#	Line 46 | Line 46 | namespace oopse {
46		#include "utils/GenericData.hpp"
47		#include "utils/simError.h"
48		namespace oopse {
49	<
50	<	/**
51	<	* @class ConstraintElem ConstraintElem.hpp "constraints/ConstraintElem.hpp"
52	<	* An adapter class of StuntDouble which is used at constraint algorithm
53	<	*/
54	<
55	<	class ConstraintElem{
56	<	public:
57	<	ConstraintElem(StuntDouble* sd) : sd_(sd) {
58	<	GenericData* movedData = sd_->getPropertyByName("Moved");
59	<	if (movedData !=NULL) { //if generic data with keyword "moved" exists, assign it to moved_
60	<	moved_ = dynamic_cast<BoolGenericData*>(movedData);
61	<	if (moved_ == NULL) {
62	<	sprintf(painCave.errMsg,
63	<	"Generic Data with keyword Moved exists, however, it can not be casted to a BoolGenericData.\n");
64	<	painCave.isFatal = 1;;
65	<	simError();
66	<	}
67	<	}else { //if generic data with keyword "moved" does not exist, create it
68	<	moved_ = new BoolGenericData("Moved");
69	<	sd_->addProperty(moved_);
70	<	}
71	<
72	<	GenericData* movingData = sd_->getPropertyByName("Moving");
73	<	if (movingData !=NULL) {
74	<	moving_ = dynamic_cast<BoolGenericData*>(movingData);
75	<	if (moving_ == NULL) {
76	<	sprintf(painCave.errMsg,
77	<	"Generic Data with keyword Moving exists, however, it can not be casted to a BoolGenericData.\n");
78	<	painCave.isFatal = 1;;
79	<	simError();
80	<	}
81	<	}else {
82	<	moving_ = new BoolGenericData("Moving");
83	<	sd_->addProperty(moving_);
84	<	}
85	<
86	<	}
87	<
88	<	bool getMoved() { return moved_->getData(); }
89	<	void setMoved(bool moved) { moved_->setData(moved);}
90	<
91	<	bool getMoving() { return moving_->getData(); }
92	<	void setMoving(bool moving) { moving_->setData(moving); }
93	<
94	<	StuntDouble* getStuntDouble() { return sd_; }
95	<
96	<	/**
97	<	* Returns the global index of this stuntdouble.
98	<	* @return  the global index of this stuntdouble
99	<	*/
100	<	int getGlobalIndex() {
101	<	return sd_->getGlobalIndex();
102	<	}
103	<
104	<	/**
105	<	* Sets the global index of this stuntdouble.
106	<	* @param new global index to be set
107	<	*/
108	<	void setGlobalIndex(int index) {
109	<	sd_->setGlobalIndex(index);
110	<	}
111	<
112	<	/**
113	<	* Returns the local index of this stuntdouble
114	<	* @return the local index of this stuntdouble
115	<	*/
116	<	int getLocalIndex() {
117	<	return sd_->getLocalIndex();
118	<	}
119	<
120	<	/**
121	<	* Sets the local index of this stuntdouble
122	<	* @param index new index to be set
123	<	*/
124	<	void setLocalIndex(int index) {
125	<	sd_->setLocalIndex(index);
126	<	}
127	<
128	<	/**
129	<	* Sets the Snapshot Manager of this stuntdouble
130	<	*/
131	<	void setSnapshotManager(SnapshotManager* sman) {
132	<	sd_->setSnapshotManager(sman);
133	<	}
134	<
135	<	/**
136	<	* Tests if this stuntdouble is an atom
137	<	* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise
138	<	*/
139	<	bool isAtom(){
140	<	return sd_->isAtom();
141	<	}
142	<
143	<	/**
144	<	* Tests if this stuntdouble is an directional atom
145	<	* @return true if this stuntdouble is an directional atom, return false otherwise
146	<	*/
147	<	bool isDirectionalAtom(){
148	<	return sd_->isDirectional();
149	<	}
150	<
151	<	/**
152	<	* Tests if this stuntdouble is a rigid body.
153	<	* @return true if this stuntdouble is a rigid body, otherwise return false
154	<	*/
155	<	bool isRigidBody(){
156	<	return sd_->isRigidBody();
157	<	}
158	<
159	<	/**
160	<	* Tests if this stuntdouble is a directional one.
161	<	* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise
162	<	*/
163	<	bool isDirectional(){
164	<	return sd_->isDirectional();
165	<	}
166	<
167	<	/**
168	<	* Returns the previous position of this stuntdouble
169	<	* @return the position of this stuntdouble
170	<	*/
171	<	Vector3d getPrevPos() {
172	<	return sd_->getPrevPos();
173	<	}
174	<
175	<	/**
176	<	* Returns the current position of this stuntdouble
177	<	* @return the position of this stuntdouble
178	<	*/
179	<	Vector3d getPos() {
180	<	return sd_->getPos();
181	<	}
182	<
183	<	/**
184	<	* Returns the position of this stuntdouble in specified snapshot
185	<	* @return the position of this stuntdouble
186	<	* @param snapshotNo
187	<	*/
188	<	Vector3d getPos(int snapshotNo) {
189	<	return sd_->getPos(snapshotNo);
190	<	}
191	<
192	<	/**
193	<	* Sets  the previous position of this stuntdouble
194	<	* @param pos  new position
195	<	* @see #getPos
196	<	*/
197	<	void setPrevPos(const Vector3d& pos) {
198	<	sd_->setPrevPos(pos);
199	<	}
200	<
201	<	/**
202	<	* Sets  the current position of this stuntdouble
203	<	* @param pos  new position
204	<	*/
205	<	void setPos(const Vector3d& pos) {
206	<	sd_->setPos(pos);
207	<	}
208	<
209	<	/**
210	<	* Sets  the position of this stuntdouble in specified snapshot
211	<	* @param pos position to be set
212	<	* @param snapshotNo
213	<	* @see #getPos
214	<	*/
215	<	void setPos(const Vector3d& pos, int snapshotNo) {
216	<	sd_->setPos(pos, snapshotNo);
217	<	}
218	<
219	<	/**
220	<	* Returns the previous velocity of this stuntdouble
221	<	* @return the velocity of this stuntdouble
222	<	*/
223	<	Vector3d getPrevVel() {
224	<	return sd_->getPrevVel();
225	<	}
226	<
227	<	/**
228	<	* Returns the current velocity of this stuntdouble
229	<	* @return the velocity of this stuntdouble
230	<	*/
231	<	Vector3d getVel() {
232	<	return sd_->getVel();
233	<	}
234	<
235	<	/**
236	<	* Returns the velocity of this stuntdouble in specified snapshot
237	<	* @return the velocity of this stuntdouble
238	<	* @param snapshotNo
239	<	*/
240	<
241	<	Vector3d getVel(int snapshotNo) {
242	<	return sd_->getVel(snapshotNo);
243	<	}
244	<
245	<	/**
246	<	* Sets  the previous velocity of this stuntdouble
247	<	* @param vel  new velocity
248	<	* @see #getVel
249	<	*/
250	<	void setPrevVel(const Vector3d& vel) {
251	<	sd_->setPrevVel(vel);
252	<	}
253	<
254	<	/**
255	<	* Sets  the current velocity of this stuntdouble
256	<	* @param vel  new velocity
257	<	*/
258	<	void setVel(const Vector3d& vel) {
259	<	sd_->setVel(vel);
260	<	}
261	<
262	<	/**
263	<	* Sets  the velocity of this stuntdouble in specified snapshot
264	<	* @param vel velocity to be set
265	<	* @param snapshotNo
266	<	* @see #getVel
267	<	*/
268	<	void setVel(const Vector3d& vel, int snapshotNo) {
269	<	sd_->setVel(vel, snapshotNo);
270	<	}
271	<
272	<	/**
273	<	* Returns the previous rotation matrix of this stuntdouble
274	<	* @return the rotation matrix of this stuntdouble
275	<	*/
276	<	RotMat3x3d getPrevA() {
277	<	return sd_->getPrevA();
278	<	}
279	<
280	<	/**
281	<	* Returns the current rotation matrix of this stuntdouble
282	<	* @return the rotation matrix of this stuntdouble
283	<	*/
284	<	RotMat3x3d getA() {
285	<	return sd_->getA();
286	<	}
287	<
288	<	/**
289	<	* Returns the rotation matrix of this stuntdouble in specified snapshot
290	<	*
291	<	* @return the rotation matrix of this stuntdouble
292	<	* @param snapshotNo
293	<	*/
294	<	RotMat3x3d getA(int snapshotNo) {
295	<	return sd_->getA(snapshotNo);
296	<	}
297	<
298	<	/**
299	<	* Sets  the previous rotation matrix of this stuntdouble
300	<	* @param a  new rotation matrix
301	<	* @see #getA
302	<	*/
303	<	void setPrevA(const RotMat3x3d& a) {
304	<	sd_->setPrevA(a);
305	<	}
306	<
307	<	/**
308	<	* Sets  the current rotation matrix of this stuntdouble
309	<	* @param a  new rotation matrix
310	<	*/
311	<	void setA(const RotMat3x3d& a) {
312	<	sd_->setA(a);
313	<	}
314	<
315	<	/**
316	<	* Sets  the rotation matrix of this stuntdouble in specified snapshot
317	<	* @param a rotation matrix to be set
318	<	* @param snapshotNo
319	<	* @see #getA
320	<	*/
321	<	void setA(const RotMat3x3d& a, int snapshotNo) {
322	<	sd_->setA(a, snapshotNo);
323	<	}
324	<
325	<	/**
326	<	* Returns the previous angular momentum of this stuntdouble (body-fixed).
327	<	* @return the angular momentum of this stuntdouble
328	<	*/
329	<	Vector3d getPrevJ() {
330	<	return sd_->getPrevJ();
331	<	}
332	<
333	<	/**
334	<	* Returns the current angular momentum of this stuntdouble (body -fixed).
335	<	* @return the angular momentum of this stuntdouble
336	<	*/
337	<	Vector3d getJ() {
338	<	return sd_->getJ();
339	<	}
340	<
341	<	/**
342	<	* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed).
343	<	* @return the angular momentum of this stuntdouble
344	<	* @param snapshotNo
345	<	*/
346	<	Vector3d getJ(int snapshotNo) {
347	<	return sd_->getJ(snapshotNo);
348	<	}
349	<
350	<	/**
351	<	* Sets  the previous angular momentum of this stuntdouble (body-fixed).
352	<	* @param angMom  new angular momentum
353	<	* @see #getJ
354	<	*/
355	<	void setPrevJ(const Vector3d& angMom) {
356	<	sd_->setPrevJ(angMom);
357	<	}
358	<
359	<	/**
360	<	* Sets  the current angular momentum of this stuntdouble (body-fixed).
361	<	* @param angMom  new angular momentum
362	<	*/
363	<	void setJ(const Vector3d& angMom) {
364	<	sd_->setJ(angMom);
365	<	}
366	<
367	<	/**
368	<	* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed).
369	<	* @param angMom angular momentum to be set
370	<	* @param snapshotNo
371	<	* @see #getJ
372	<	*/
373	<	void setJ(const Vector3d& angMom, int snapshotNo) {
374	<	sd_->setJ(angMom, snapshotNo);
375	<	}
376	<
377	<	/**
378	<	* Returns the previous quaternion of this stuntdouble
379	<	* @return the quaternion of this stuntdouble
380	<	*/
381	<	Quat4d getPrevQ() {
382	<	return sd_->getPrevQ();
383	<	}
384	<
385	<	/**
386	<	* Returns the current quaternion of this stuntdouble
387	<	* @return the quaternion of this stuntdouble
388	<	*/
389	<	Quat4d getQ() {
390	<	return sd_->getQ();
391	<	}
392	<
393	<	/**
394	<	* Returns the quaternion of this stuntdouble in specified snapshot
395	<	* @return the quaternion of this stuntdouble
396	<	* @param snapshotNo
397	<	*/
398	<	Quat4d getQ(int snapshotNo) {
399	<	return sd_->getQ(snapshotNo);
400	<	}
401	<
402	<	/**
403	<	* Sets  the previous quaternion of this stuntdouble
404	<	* @param q  new quaternion
405	<	* @note actual storage data is rotation matrix
406	<	*/
407	<	void setPrevQ(const Quat4d& q) {
408	<	sd_->setPrevQ(q);
409	<	}
410	<
411	<	/**
412	<	* Sets  the current quaternion of this stuntdouble
413	<	* @param q  new quaternion
414	<	* @note actual storage data is rotation matrix
415	<	*/
416	<	void setQ(const Quat4d& q) {
417	<	sd_->setQ(q);
418	<	}
419	<
420	<	/**
421	<	* Sets  the quaternion of this stuntdouble in specified snapshot
422	<	*
423	<	* @param q quaternion to be set
424	<	* @param snapshotNo
425	<	* @note actual storage data is rotation matrix
426	<	*/
427	<	void setQ(const Quat4d& q, int snapshotNo) {
428	<	sd_->setQ(q, snapshotNo);
429	<	}
430	<
431	<	/**
432	<	* Returns the previous euler angles of this stuntdouble
433	<	* @return the euler angles of this stuntdouble
434	<	*/
435	<	Vector3d getPrevEuler() {
436	<	return sd_->getPrevEuler();
437	<	}
438	<
439	<	/**
440	<	* Returns the current euler angles of this stuntdouble
441	<	* @return the euler angles of this stuntdouble
442	<	*/
443	<	Vector3d getEuler() {
444	<	return sd_->getEuler();
445	<	}
446	<
447	<	/**
448	<	* Returns the euler angles of this stuntdouble in specified snapshot.
449	<	* @return the euler angles of this stuntdouble
450	<	* @param snapshotNo
451	<	*/
452	<	Vector3d getEuler(int snapshotNo) {
453	<	return sd_->getEuler(snapshotNo);
454	<	}
455	<
456	<	/**
457	<	* Sets  the previous euler angles of this stuntdouble.
458	<	* @param euler  new euler angles
459	<	* @see #getEuler
460	<	* @note actual storage data is rotation matrix
461	<	*/
462	<	void setPrevEuler(const Vector3d& euler) {
463	<	sd_->setPrevEuler(euler);
464	<	}
465	<
466	<	/**
467	<	* Sets  the current euler angles of this stuntdouble
468	<	* @param euler  new euler angles
469	<	*/
470	<	void setEuler(const Vector3d& euler) {
471	<	sd_->setEuler(euler);
472	<	}
473	<
474	<	/**
475	<	* Sets  the euler angles  of this stuntdouble in specified snapshot
476	<	*
477	<	* @param euler euler angles to be set
478	<	* @param snapshotNo
479	<	* @note actual storage data is rotation matrix
480	<	*/
481	<	void setEuler(const Vector3d& euler, int snapshotNo) {
482	<	sd_->setEuler(euler, snapshotNo);
483	<	}
484	<
485	<	/**
486	<	* Returns the previous unit vectors of this stuntdouble
487	<	* @return the unit vectors of this stuntdouble
488	<	*/
489	<	RotMat3x3d getPrevElectroFrame() {
490	<	return sd_->getPrevElectroFrame();
491	<	}
492	<
493	<	/**
494	<	* Returns the current unit vectors of this stuntdouble
495	<	* @return the unit vectors of this stuntdouble
496	<	*/
497	<	RotMat3x3d getElectroFrame() {
498	<	return sd_->getElectroFrame();
499	<	}
500	<
501	<	/**
502	<	* Returns the unit vectors of this stuntdouble in specified snapshot
503	<	*
504	<	* @return the unit vectors of this stuntdouble
505	<	* @param snapshotNo
506	<	*/
507	<	RotMat3x3d getElectroFrame(int snapshotNo) {
508	<	return sd_->getElectroFrame(snapshotNo);
509	<	}
510	<
511	<	/**
512	<	* Returns the previous force of this stuntdouble
513	<	* @return the force of this stuntdouble
514	<	*/
515	<	Vector3d getPrevFrc() {
516	<	return sd_->getPrevFrc();
517	<	}
518	<
519	<	/**
520	<	* Returns the current force of this stuntdouble
521	<	* @return the force of this stuntdouble
522	<	*/
523	<	Vector3d getFrc() {
524	<	return sd_->getFrc();
525	<	}
526	<
527	<	/**
528	<	* Returns the force of this stuntdouble in specified snapshot
529	<	*
530	<	* @return the force of this stuntdouble
531	<	* @param snapshotNo
532	<	*/
533	<	Vector3d getFrc(int snapshotNo) {
534	<	return sd_->getFrc(snapshotNo);
535	<	}
536	<
537	<	/**
538	<	* Sets  the previous force of this stuntdouble
539	<	*
540	<	* @param frc  new force
541	<	* @see #getFrc
542	<	*/
543	<	void setPrevFrc(const Vector3d& frc) {
544	<	sd_->setPrevFrc(frc);
545	<	}
546	<
547	<	/**
548	<	* Sets  the current force of this stuntdouble
549	<	* @param frc  new force
550	<	*/
551	<	void setFrc(const Vector3d& frc) {
552	<	sd_->setFrc(frc);
553	<	}
554	<
555	<	/**
556	<	* Sets  the force of this stuntdouble in specified snapshot
557	<	*
558	<	* @param frc force to be set
559	<	* @param snapshotNo
560	<	* @see #getFrc
561	<	*/
562	<	void setFrc(const Vector3d& frc, int snapshotNo) {
563	<	sd_->setFrc(frc, snapshotNo);
564	<	}
565	<
566	<	/**
567	<	* Adds force into the previous force of this stuntdouble
568	<	*
569	<	* @param frc  new force
570	<	* @see #getFrc
571	<	*/
572	<	void addPrevFrc(const Vector3d& frc) {
573	<	sd_->addPrevFrc(frc);
574	<	}
575	<
576	<	/**
577	<	* Adds force into the current force of this stuntdouble
578	<	* @param frc  new force
579	<	*/
580	<	void addFrc(const Vector3d& frc) {
581	<	sd_->addFrc(frc);
582	<	}
583	<
584	<	/**
585	<	* Adds force into the force of this stuntdouble in specified snapshot
586	<	*
587	<	* @param frc force to be set
588	<	* @param snapshotNo
589	<	* @see #getFrc
590	<	*/
591	<	void addFrc(const Vector3d& frc, int snapshotNo) {
592	<	sd_->addFrc(frc, snapshotNo);
593	<	}
594	<
595	<	/**
596	<	* Returns the previous torque of this stuntdouble
597	<	* @return the torque of this stuntdouble
598	<	*/
599	<	Vector3d getPrevTrq() {
600	<	return sd_->getPrevTrq();
601	<	}
602	<
603	<	/**
604	<	* Returns the current torque of this stuntdouble
605	<	* @return the torque of this stuntdouble
606	<	*/
607	<	Vector3d getTrq() {
608	<	return sd_->getTrq();
609	<	}
610	<
611	<	/**
612	<	* Returns the torque of this stuntdouble in specified snapshot
613	<	*
614	<	* @return the torque of this stuntdouble
615	<	* @param snapshotNo
616	<	*/
617	<	Vector3d getTrq(int snapshotNo) {
618	<	return sd_->getTrq(snapshotNo);
619	<	}
620	<
621	<	/**
622	<	* Sets  the previous torque of this stuntdouble
623	<	*
624	<	* @param trq  new torque
625	<	* @see #getTrq
626	<	*/
627	<	void setPrevTrq(const Vector3d& trq) {
628	<	sd_->setPrevTrq(trq);
629	<	}
630	<
631	<	/**
632	<	* Sets  the current torque of this stuntdouble
633	<	* @param trq  new torque
634	<	*/
635	<	void setTrq(const Vector3d& trq) {
636	<	sd_->setTrq(trq);
637	<	}
638	<
639	<	/**
640	<	* Sets  the torque of this stuntdouble in specified snapshot
641	<	*
642	<	* @param trq torque to be set
643	<	* @param snapshotNo
644	<	* @see #getTrq
645	<	*/
646	<	void setTrq(const Vector3d& trq, int snapshotNo) {
647	<	sd_->setTrq(trq, snapshotNo);
648	<	}
649	<
650	<	/**
651	<	* Adds torque into the previous torque of this stuntdouble
652	<	*
653	<	* @param trq  new torque
654	<	* @see #getTrq
655	<	*/
656	<	void addPrevTrq(const Vector3d& trq) {
657	<	sd_->addPrevTrq(trq);
658	<	}
659	<
660	<	/**
661	<	* Adds torque into the current torque of this stuntdouble
662	<	* @param trq  new torque
663	<	*/
664	<	void addTrq(const Vector3d& trq) {
665	<	sd_->addTrq(trq);
666	<	}
667	<
668	<	/**
669	<	* Adds torque into the torque of this stuntdouble in specified snapshot
670	<	*
671	<	* @param trq torque to be add
672	<	* @param snapshotNo
673	<	* @see #getTrq
674	<	*/
675	<	void addTrq(const Vector3d& trq, int snapshotNo) {
676	<	sd_->addTrq(trq, snapshotNo);
677	<	}
49	>
50	>	/**
51	>	* @class ConstraintElem ConstraintElem.hpp "constraints/ConstraintElem.hpp"
52	>	* An adapter class of StuntDouble which is used at constraint algorithm
53	>	*/
54	>
55	>	class ConstraintElem{
56	>	public:
57	>	ConstraintElem(StuntDouble* sd) : sd_(sd) {
58	>	GenericData* movedData = sd_->getPropertyByName("Moved");
59	>	if (movedData !=NULL) { //if generic data with keyword "moved" exists, assign it to moved_
60	>	moved_ = dynamic_cast<BoolGenericData*>(movedData);
61	>	if (moved_ == NULL) {
62	>	sprintf(painCave.errMsg,
63	>	"Generic Data with keyword Moved exists, however, it can not be casted to a BoolGenericData.\n");
64	>	painCave.isFatal = 1;;
65	>	simError();
66	>	}
67	>	}else { //if generic data with keyword "moved" does not exist, create it
68	>	moved_ = new BoolGenericData("Moved");
69	>	sd_->addProperty(moved_);
70	>	}
71
72	<	/** Set the force of this stuntdouble to zero */
73	<	void zeroForcesAndTorques() {
74	<	sd_->zeroForcesAndTorques();
75	<	}
76	<	/**
77	<	* Returns the inertia tensor of this stuntdouble
78	<	* @return the inertia tensor of this stuntdouble
79	<	*/
80	<	Mat3x3d getI() {
81	<	return sd_->getI();
82	<	}
83	<
84	<	/**
85	<	* Returns the gradient of this stuntdouble
86	<	* @return the gradient of this stuntdouble
87	<	*/
88	<	std::vector<double> getGrad() {
89	<	return sd_->getGrad();
90	<	}
91	<
92	<	/**
93	<	* Tests the  if this stuntdouble is a  linear rigidbody
94	<	*
95	<	* @return true if this stuntdouble is a  linear rigidbody, otherwise return false
96	<	* @note atom and directional atom will always return false
97	<	*
98	<	* @see #linearAxis
99	<	*/
100	<	bool isLinear() {
101	<	return sd_->isLinear();
102	<	}
103	<
104	<	/**
105	<	* Returns the linear axis of the rigidbody, atom and directional atom will always return -1
106	<	*
107	<	* @return the linear axis of the rigidbody
108	<	*
109	<	* @see #isLinear
110	<	*/
111	<	int linearAxis() {
112	<	return sd_->linearAxis();
113	<	}
114	<
115	<	/** Returns the mass of this stuntdouble */
116	<	double getMass() {
117	<	return sd_->getMass();
118	<	}
119	<
120	<	/**
121	<	* Sets the mass of this stuntdoulbe
122	<	* @param mass the mass to be set
123	<	*/
124	<	void setMass(double mass) {
125	<	sd_->setMass(mass);
126	<	}
127	<
128	<	/** Returns the name of this stuntdouble */
129	<	std::string getType() {
130	<	return sd_->getType();
131	<	}
132	<
133	<	/** Sets the name of this stuntdouble*/
134	<	void setType(const std::string& name) {
135	<	sd_->setType(name);
136	<	}
137	<
138	<	/**
139	<	* Converts a lab fixed vector to a body fixed vector.
140	<	* @return body fixed vector
141	<	* @param v lab fixed vector
142	<	*/
143	<	Vector3d lab2Body(const Vector3d& v) {
144	<	return sd_->lab2Body(v);
145	<	}
146	<
147	<	/**
148	<	* Converts a body fixed vector to a lab fixed vector.
149	<	* @return corresponding lab fixed vector
150	<	* @param v body fixed vector
151	<	*/
152	<	Vector3d body2Lab(const Vector3d& v){
153	<	return sd_->body2Lab(v);
154	<	}
155	<	/**
156	<	* <p>
157	<	* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
158	<	* the elements of a data structure. In this way, you can change the operation being performed
159	<	* on a structure without the need of changing the classes of the elements that you are operating
160	<	* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the
161	<	* algorithms used upon them
162	<	* </p>
163	<	* @param v visitor
164	<	*/
165	<	void accept(BaseVisitor* v) {
166	<	sd_->accept(v);
167	<	}
168	<
169	<	//below functions are just forward functions
170	<	/**
171	<	* Adds property into property map
172	<	* @param genData GenericData to be added into PropertyMap
173	<	*/
174	<	void addProperty(GenericData* genData){
175	<	sd_->addProperty(genData);
176	<	}
177	<
178	<	/**
179	<	* Removes property from PropertyMap by name
180	<	* @param propName the name of property to be removed
181	<	*/
182	<	void removeProperty(const std::string& propName) {
183	<	sd_->removeProperty(propName);
184	<	}
185	<
186	<	/**
187	<	* clear all of the properties
188	<	*/
189	<	void clearProperties() {
190	<	sd_->clearProperties();
191	<	}
192	<
193	<	/**
194	<	* Returns all names of properties
195	<	* @return all names of properties
196	<	*/
197	<	std::vector<std::string> getPropertyNames() {
198	<	return sd_->getPropertyNames();
199	<	}
200	<
201	<	/**
202	<	* Returns all of the properties in PropertyMap
203	<	* @return all of the properties in PropertyMap
204	<	*/
205	<	std::vector<GenericData*> getProperties() {
206	<	return sd_->getProperties();
207	<	}
208	<
209	<	/**
210	<	* Returns property
211	<	* @param propName name of property
212	<	* @return a pointer point to property with propName. If no property named propName
213	<	* exists, return NULL
214	<	*/
215	<	GenericData* getPropertyByName(const std::string& propName) {
216	<	return sd_->getPropertyByName(propName);
217	<	}
218	<
219	<	private:
220	<	StuntDouble* sd_;
221	<	BoolGenericData* moved_;
222	<	BoolGenericData* moving_;
223	<	};
224	<
72	>	GenericData* movingData = sd_->getPropertyByName("Moving");
73	>	if (movingData !=NULL) {
74	>	moving_ = dynamic_cast<BoolGenericData*>(movingData);
75	>	if (moving_ == NULL) {
76	>	sprintf(painCave.errMsg,
77	>	"Generic Data with keyword Moving exists, however, it can not be casted to a BoolGenericData.\n");
78	>	painCave.isFatal = 1;;
79	>	simError();
80	>	}
81	>	}else {
82	>	moving_ = new BoolGenericData("Moving");
83	>	sd_->addProperty(moving_);
84	>	}
85	>
86	>	}
87	>
88	>	bool getMoved() { return moved_->getData(); }
89	>	void setMoved(bool moved) { moved_->setData(moved);}
90	>
91	>	bool getMoving() { return moving_->getData(); }
92	>	void setMoving(bool moving) { moving_->setData(moving); }
93	>
94	>	StuntDouble* getStuntDouble() { return sd_; }
95	>
96	>	/**
97	>	* Returns the global index of this stuntdouble.
98	>	* @return  the global index of this stuntdouble
99	>	*/
100	>	int getGlobalIndex() {
101	>	return sd_->getGlobalIndex();
102	>	}
103	>
104	>	/**
105	>	* Sets the global index of this stuntdouble.
106	>	* @param new global index to be set
107	>	*/
108	>	void setGlobalIndex(int index) {
109	>	sd_->setGlobalIndex(index);
110	>	}
111	>
112	>	/**
113	>	* Returns the local index of this stuntdouble
114	>	* @return the local index of this stuntdouble
115	>	*/
116	>	int getLocalIndex() {
117	>	return sd_->getLocalIndex();
118	>	}
119	>
120	>	/**
121	>	* Sets the local index of this stuntdouble
122	>	* @param index new index to be set
123	>	*/
124	>	void setLocalIndex(int index) {
125	>	sd_->setLocalIndex(index);
126	>	}
127	>
128	>	/**
129	>	* Sets the Snapshot Manager of this stuntdouble
130	>	*/
131	>	void setSnapshotManager(SnapshotManager* sman) {
132	>	sd_->setSnapshotManager(sman);
133	>	}
134	>
135	>	/**
136	>	* Tests if this stuntdouble is an atom
137	>	* @return true is this stuntdouble is an atom(or a directional atom), return false otherwise
138	>	*/
139	>	bool isAtom(){
140	>	return sd_->isAtom();
141	>	}
142	>
143	>	/**
144	>	* Tests if this stuntdouble is an directional atom
145	>	* @return true if this stuntdouble is an directional atom, return false otherwise
146	>	*/
147	>	bool isDirectionalAtom(){
148	>	return sd_->isDirectional();
149	>	}
150	>
151	>	/**
152	>	* Tests if this stuntdouble is a rigid body.
153	>	* @return true if this stuntdouble is a rigid body, otherwise return false
154	>	*/
155	>	bool isRigidBody(){
156	>	return sd_->isRigidBody();
157	>	}
158	>
159	>	/**
160	>	* Tests if this stuntdouble is a directional one.
161	>	* @return true is this stuntdouble is a directional atom or a rigid body, return false otherwise
162	>	*/
163	>	bool isDirectional(){
164	>	return sd_->isDirectional();
165	>	}
166	>
167	>	/**
168	>	* Returns the previous position of this stuntdouble
169	>	* @return the position of this stuntdouble
170	>	*/
171	>	Vector3d getPrevPos() {
172	>	return sd_->getPrevPos();
173	>	}
174	>
175	>	/**
176	>	* Returns the current position of this stuntdouble
177	>	* @return the position of this stuntdouble
178	>	*/
179	>	Vector3d getPos() {
180	>	return sd_->getPos();
181	>	}
182	>
183	>	/**
184	>	* Returns the position of this stuntdouble in specified snapshot
185	>	* @return the position of this stuntdouble
186	>	* @param snapshotNo
187	>	*/
188	>	Vector3d getPos(int snapshotNo) {
189	>	return sd_->getPos(snapshotNo);
190	>	}
191	>
192	>	/**
193	>	* Sets  the previous position of this stuntdouble
194	>	* @param pos  new position
195	>	* @see #getPos
196	>	*/
197	>	void setPrevPos(const Vector3d& pos) {
198	>	sd_->setPrevPos(pos);
199	>	}
200	>
201	>	/**
202	>	* Sets  the current position of this stuntdouble
203	>	* @param pos  new position
204	>	*/
205	>	void setPos(const Vector3d& pos) {
206	>	sd_->setPos(pos);
207	>	}
208	>
209	>	/**
210	>	* Sets  the position of this stuntdouble in specified snapshot
211	>	* @param pos position to be set
212	>	* @param snapshotNo
213	>	* @see #getPos
214	>	*/
215	>	void setPos(const Vector3d& pos, int snapshotNo) {
216	>	sd_->setPos(pos, snapshotNo);
217	>	}
218	>
219	>	/**
220	>	* Returns the previous velocity of this stuntdouble
221	>	* @return the velocity of this stuntdouble
222	>	*/
223	>	Vector3d getPrevVel() {
224	>	return sd_->getPrevVel();
225	>	}
226	>
227	>	/**
228	>	* Returns the current velocity of this stuntdouble
229	>	* @return the velocity of this stuntdouble
230	>	*/
231	>	Vector3d getVel() {
232	>	return sd_->getVel();
233	>	}
234	>
235	>	/**
236	>	* Returns the velocity of this stuntdouble in specified snapshot
237	>	* @return the velocity of this stuntdouble
238	>	* @param snapshotNo
239	>	*/
240	>
241	>	Vector3d getVel(int snapshotNo) {
242	>	return sd_->getVel(snapshotNo);
243	>	}
244	>
245	>	/**
246	>	* Sets  the previous velocity of this stuntdouble
247	>	* @param vel  new velocity
248	>	* @see #getVel
249	>	*/
250	>	void setPrevVel(const Vector3d& vel) {
251	>	sd_->setPrevVel(vel);
252	>	}
253	>
254	>	/**
255	>	* Sets  the current velocity of this stuntdouble
256	>	* @param vel  new velocity
257	>	*/
258	>	void setVel(const Vector3d& vel) {
259	>	sd_->setVel(vel);
260	>	}
261	>
262	>	/**
263	>	* Sets  the velocity of this stuntdouble in specified snapshot
264	>	* @param vel velocity to be set
265	>	* @param snapshotNo
266	>	* @see #getVel
267	>	*/
268	>	void setVel(const Vector3d& vel, int snapshotNo) {
269	>	sd_->setVel(vel, snapshotNo);
270	>	}
271	>
272	>	/**
273	>	* Returns the previous rotation matrix of this stuntdouble
274	>	* @return the rotation matrix of this stuntdouble
275	>	*/
276	>	RotMat3x3d getPrevA() {
277	>	return sd_->getPrevA();
278	>	}
279	>
280	>	/**
281	>	* Returns the current rotation matrix of this stuntdouble
282	>	* @return the rotation matrix of this stuntdouble
283	>	*/
284	>	RotMat3x3d getA() {
285	>	return sd_->getA();
286	>	}
287	>
288	>	/**
289	>	* Returns the rotation matrix of this stuntdouble in specified snapshot
290	>	*
291	>	* @return the rotation matrix of this stuntdouble
292	>	* @param snapshotNo
293	>	*/
294	>	RotMat3x3d getA(int snapshotNo) {
295	>	return sd_->getA(snapshotNo);
296	>	}
297	>
298	>	/**
299	>	* Sets  the previous rotation matrix of this stuntdouble
300	>	* @param a  new rotation matrix
301	>	* @see #getA
302	>	*/
303	>	void setPrevA(const RotMat3x3d& a) {
304	>	sd_->setPrevA(a);
305	>	}
306	>
307	>	/**
308	>	* Sets  the current rotation matrix of this stuntdouble
309	>	* @param a  new rotation matrix
310	>	*/
311	>	void setA(const RotMat3x3d& a) {
312	>	sd_->setA(a);
313	>	}
314	>
315	>	/**
316	>	* Sets  the rotation matrix of this stuntdouble in specified snapshot
317	>	* @param a rotation matrix to be set
318	>	* @param snapshotNo
319	>	* @see #getA
320	>	*/
321	>	void setA(const RotMat3x3d& a, int snapshotNo) {
322	>	sd_->setA(a, snapshotNo);
323	>	}
324	>
325	>	/**
326	>	* Returns the previous angular momentum of this stuntdouble (body-fixed).
327	>	* @return the angular momentum of this stuntdouble
328	>	*/
329	>	Vector3d getPrevJ() {
330	>	return sd_->getPrevJ();
331	>	}
332	>
333	>	/**
334	>	* Returns the current angular momentum of this stuntdouble (body -fixed).
335	>	* @return the angular momentum of this stuntdouble
336	>	*/
337	>	Vector3d getJ() {
338	>	return sd_->getJ();
339	>	}
340	>
341	>	/**
342	>	* Returns the angular momentum of this stuntdouble in specified snapshot (body-fixed).
343	>	* @return the angular momentum of this stuntdouble
344	>	* @param snapshotNo
345	>	*/
346	>	Vector3d getJ(int snapshotNo) {
347	>	return sd_->getJ(snapshotNo);
348	>	}
349	>
350	>	/**
351	>	* Sets  the previous angular momentum of this stuntdouble (body-fixed).
352	>	* @param angMom  new angular momentum
353	>	* @see #getJ
354	>	*/
355	>	void setPrevJ(const Vector3d& angMom) {
356	>	sd_->setPrevJ(angMom);
357	>	}
358	>
359	>	/**
360	>	* Sets  the current angular momentum of this stuntdouble (body-fixed).
361	>	* @param angMom  new angular momentum
362	>	*/
363	>	void setJ(const Vector3d& angMom) {
364	>	sd_->setJ(angMom);
365	>	}
366	>
367	>	/**
368	>	* Sets the angular momentum of this stuntdouble in specified snapshot(body-fixed).
369	>	* @param angMom angular momentum to be set
370	>	* @param snapshotNo
371	>	* @see #getJ
372	>	*/
373	>	void setJ(const Vector3d& angMom, int snapshotNo) {
374	>	sd_->setJ(angMom, snapshotNo);
375	>	}
376	>
377	>	/**
378	>	* Returns the previous quaternion of this stuntdouble
379	>	* @return the quaternion of this stuntdouble
380	>	*/
381	>	Quat4d getPrevQ() {
382	>	return sd_->getPrevQ();
383	>	}
384	>
385	>	/**
386	>	* Returns the current quaternion of this stuntdouble
387	>	* @return the quaternion of this stuntdouble
388	>	*/
389	>	Quat4d getQ() {
390	>	return sd_->getQ();
391	>	}
392	>
393	>	/**
394	>	* Returns the quaternion of this stuntdouble in specified snapshot
395	>	* @return the quaternion of this stuntdouble
396	>	* @param snapshotNo
397	>	*/
398	>	Quat4d getQ(int snapshotNo) {
399	>	return sd_->getQ(snapshotNo);
400	>	}
401	>
402	>	/**
403	>	* Sets  the previous quaternion of this stuntdouble
404	>	* @param q  new quaternion
405	>	* @note actual storage data is rotation matrix
406	>	*/
407	>	void setPrevQ(const Quat4d& q) {
408	>	sd_->setPrevQ(q);
409	>	}
410	>
411	>	/**
412	>	* Sets  the current quaternion of this stuntdouble
413	>	* @param q  new quaternion
414	>	* @note actual storage data is rotation matrix
415	>	*/
416	>	void setQ(const Quat4d& q) {
417	>	sd_->setQ(q);
418	>	}
419	>
420	>	/**
421	>	* Sets  the quaternion of this stuntdouble in specified snapshot
422	>	*
423	>	* @param q quaternion to be set
424	>	* @param snapshotNo
425	>	* @note actual storage data is rotation matrix
426	>	*/
427	>	void setQ(const Quat4d& q, int snapshotNo) {
428	>	sd_->setQ(q, snapshotNo);
429	>	}
430	>
431	>	/**
432	>	* Returns the previous euler angles of this stuntdouble
433	>	* @return the euler angles of this stuntdouble
434	>	*/
435	>	Vector3d getPrevEuler() {
436	>	return sd_->getPrevEuler();
437	>	}
438	>
439	>	/**
440	>	* Returns the current euler angles of this stuntdouble
441	>	* @return the euler angles of this stuntdouble
442	>	*/
443	>	Vector3d getEuler() {
444	>	return sd_->getEuler();
445	>	}
446	>
447	>	/**
448	>	* Returns the euler angles of this stuntdouble in specified snapshot.
449	>	* @return the euler angles of this stuntdouble
450	>	* @param snapshotNo
451	>	*/
452	>	Vector3d getEuler(int snapshotNo) {
453	>	return sd_->getEuler(snapshotNo);
454	>	}
455	>
456	>	/**
457	>	* Sets  the previous euler angles of this stuntdouble.
458	>	* @param euler  new euler angles
459	>	* @see #getEuler
460	>	* @note actual storage data is rotation matrix
461	>	*/
462	>	void setPrevEuler(const Vector3d& euler) {
463	>	sd_->setPrevEuler(euler);
464	>	}
465	>
466	>	/**
467	>	* Sets  the current euler angles of this stuntdouble
468	>	* @param euler  new euler angles
469	>	*/
470	>	void setEuler(const Vector3d& euler) {
471	>	sd_->setEuler(euler);
472	>	}
473	>
474	>	/**
475	>	* Sets  the euler angles  of this stuntdouble in specified snapshot
476	>	*
477	>	* @param euler euler angles to be set
478	>	* @param snapshotNo
479	>	* @note actual storage data is rotation matrix
480	>	*/
481	>	void setEuler(const Vector3d& euler, int snapshotNo) {
482	>	sd_->setEuler(euler, snapshotNo);
483	>	}
484	>
485	>	/**
486	>	* Returns the previous unit vectors of this stuntdouble
487	>	* @return the unit vectors of this stuntdouble
488	>	*/
489	>	RotMat3x3d getPrevElectroFrame() {
490	>	return sd_->getPrevElectroFrame();
491	>	}
492	>
493	>	/**
494	>	* Returns the current unit vectors of this stuntdouble
495	>	* @return the unit vectors of this stuntdouble
496	>	*/
497	>	RotMat3x3d getElectroFrame() {
498	>	return sd_->getElectroFrame();
499	>	}
500	>
501	>	/**
502	>	* Returns the unit vectors of this stuntdouble in specified snapshot
503	>	*
504	>	* @return the unit vectors of this stuntdouble
505	>	* @param snapshotNo
506	>	*/
507	>	RotMat3x3d getElectroFrame(int snapshotNo) {
508	>	return sd_->getElectroFrame(snapshotNo);
509	>	}
510	>
511	>	/**
512	>	* Returns the previous force of this stuntdouble
513	>	* @return the force of this stuntdouble
514	>	*/
515	>	Vector3d getPrevFrc() {
516	>	return sd_->getPrevFrc();
517	>	}
518	>
519	>	/**
520	>	* Returns the current force of this stuntdouble
521	>	* @return the force of this stuntdouble
522	>	*/
523	>	Vector3d getFrc() {
524	>	return sd_->getFrc();
525	>	}
526	>
527	>	/**
528	>	* Returns the force of this stuntdouble in specified snapshot
529	>	*
530	>	* @return the force of this stuntdouble
531	>	* @param snapshotNo
532	>	*/
533	>	Vector3d getFrc(int snapshotNo) {
534	>	return sd_->getFrc(snapshotNo);
535	>	}
536	>
537	>	/**
538	>	* Sets  the previous force of this stuntdouble
539	>	*
540	>	* @param frc  new force
541	>	* @see #getFrc
542	>	*/
543	>	void setPrevFrc(const Vector3d& frc) {
544	>	sd_->setPrevFrc(frc);
545	>	}
546	>
547	>	/**
548	>	* Sets  the current force of this stuntdouble
549	>	* @param frc  new force
550	>	*/
551	>	void setFrc(const Vector3d& frc) {
552	>	sd_->setFrc(frc);
553	>	}
554	>
555	>	/**
556	>	* Sets  the force of this stuntdouble in specified snapshot
557	>	*
558	>	* @param frc force to be set
559	>	* @param snapshotNo
560	>	* @see #getFrc
561	>	*/
562	>	void setFrc(const Vector3d& frc, int snapshotNo) {
563	>	sd_->setFrc(frc, snapshotNo);
564	>	}
565	>
566	>	/**
567	>	* Adds force into the previous force of this stuntdouble
568	>	*
569	>	* @param frc  new force
570	>	* @see #getFrc
571	>	*/
572	>	void addPrevFrc(const Vector3d& frc) {
573	>	sd_->addPrevFrc(frc);
574	>	}
575	>
576	>	/**
577	>	* Adds force into the current force of this stuntdouble
578	>	* @param frc  new force
579	>	*/
580	>	void addFrc(const Vector3d& frc) {
581	>	sd_->addFrc(frc);
582	>	}
583	>
584	>	/**
585	>	* Adds force into the force of this stuntdouble in specified snapshot
586	>	*
587	>	* @param frc force to be set
588	>	* @param snapshotNo
589	>	* @see #getFrc
590	>	*/
591	>	void addFrc(const Vector3d& frc, int snapshotNo) {
592	>	sd_->addFrc(frc, snapshotNo);
593	>	}
594	>
595	>	/**
596	>	* Returns the previous torque of this stuntdouble
597	>	* @return the torque of this stuntdouble
598	>	*/
599	>	Vector3d getPrevTrq() {
600	>	return sd_->getPrevTrq();
601	>	}
602	>
603	>	/**
604	>	* Returns the current torque of this stuntdouble
605	>	* @return the torque of this stuntdouble
606	>	*/
607	>	Vector3d getTrq() {
608	>	return sd_->getTrq();
609	>	}
610	>
611	>	/**
612	>	* Returns the torque of this stuntdouble in specified snapshot
613	>	*
614	>	* @return the torque of this stuntdouble
615	>	* @param snapshotNo
616	>	*/
617	>	Vector3d getTrq(int snapshotNo) {
618	>	return sd_->getTrq(snapshotNo);
619	>	}
620	>
621	>	/**
622	>	* Sets  the previous torque of this stuntdouble
623	>	*
624	>	* @param trq  new torque
625	>	* @see #getTrq
626	>	*/
627	>	void setPrevTrq(const Vector3d& trq) {
628	>	sd_->setPrevTrq(trq);
629	>	}
630	>
631	>	/**
632	>	* Sets  the current torque of this stuntdouble
633	>	* @param trq  new torque
634	>	*/
635	>	void setTrq(const Vector3d& trq) {
636	>	sd_->setTrq(trq);
637	>	}
638	>
639	>	/**
640	>	* Sets  the torque of this stuntdouble in specified snapshot
641	>	*
642	>	* @param trq torque to be set
643	>	* @param snapshotNo
644	>	* @see #getTrq
645	>	*/
646	>	void setTrq(const Vector3d& trq, int snapshotNo) {
647	>	sd_->setTrq(trq, snapshotNo);
648	>	}
649	>
650	>	/**
651	>	* Adds torque into the previous torque of this stuntdouble
652	>	*
653	>	* @param trq  new torque
654	>	* @see #getTrq
655	>	*/
656	>	void addPrevTrq(const Vector3d& trq) {
657	>	sd_->addPrevTrq(trq);
658	>	}
659	>
660	>	/**
661	>	* Adds torque into the current torque of this stuntdouble
662	>	* @param trq  new torque
663	>	*/
664	>	void addTrq(const Vector3d& trq) {
665	>	sd_->addTrq(trq);
666	>	}
667	>
668	>	/**
669	>	* Adds torque into the torque of this stuntdouble in specified snapshot
670	>	*
671	>	* @param trq torque to be add
672	>	* @param snapshotNo
673	>	* @see #getTrq
674	>	*/
675	>	void addTrq(const Vector3d& trq, int snapshotNo) {
676	>	sd_->addTrq(trq, snapshotNo);
677	>	}
678	>
679	>	/** Set the force of this stuntdouble to zero */
680	>	void zeroForcesAndTorques() {
681	>	sd_->zeroForcesAndTorques();
682	>	}
683	>	/**
684	>	* Returns the inertia tensor of this stuntdouble
685	>	* @return the inertia tensor of this stuntdouble
686	>	*/
687	>	Mat3x3d getI() {
688	>	return sd_->getI();
689	>	}
690	>
691	>	/**
692	>	* Returns the gradient of this stuntdouble
693	>	* @return the gradient of this stuntdouble
694	>	*/
695	>	std::vector<double> getGrad() {
696	>	return sd_->getGrad();
697	>	}
698	>
699	>	/**
700	>	* Tests the  if this stuntdouble is a  linear rigidbody
701	>	*
702	>	* @return true if this stuntdouble is a  linear rigidbody, otherwise return false
703	>	* @note atom and directional atom will always return false
704	>	*
705	>	* @see #linearAxis
706	>	*/
707	>	bool isLinear() {
708	>	return sd_->isLinear();
709	>	}
710	>
711	>	/**
712	>	* Returns the linear axis of the rigidbody, atom and directional atom will always return -1
713	>	*
714	>	* @return the linear axis of the rigidbody
715	>	*
716	>	* @see #isLinear
717	>	*/
718	>	int linearAxis() {
719	>	return sd_->linearAxis();
720	>	}
721	>
722	>	/** Returns the mass of this stuntdouble */
723	>	double getMass() {
724	>	return sd_->getMass();
725	>	}
726	>
727	>	/**
728	>	* Sets the mass of this stuntdoulbe
729	>	* @param mass the mass to be set
730	>	*/
731	>	void setMass(double mass) {
732	>	sd_->setMass(mass);
733	>	}
734	>
735	>	/** Returns the name of this stuntdouble */
736	>	std::string getType() {
737	>	return sd_->getType();
738	>	}
739	>
740	>	/** Sets the name of this stuntdouble*/
741	>	void setType(const std::string& name) {
742	>	sd_->setType(name);
743	>	}
744	>
745	>	/**
746	>	* Converts a lab fixed vector to a body fixed vector.
747	>	* @return body fixed vector
748	>	* @param v lab fixed vector
749	>	*/
750	>	Vector3d lab2Body(const Vector3d& v) {
751	>	return sd_->lab2Body(v);
752	>	}
753	>
754	>	/**
755	>	* Converts a body fixed vector to a lab fixed vector.
756	>	* @return corresponding lab fixed vector
757	>	* @param v body fixed vector
758	>	*/
759	>	Vector3d body2Lab(const Vector3d& v){
760	>	return sd_->body2Lab(v);
761	>	}
762	>	/**
763	>	* <p>
764	>	* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on
765	>	* the elements of a data structure. In this way, you can change the operation being performed
766	>	* on a structure without the need of changing the classes of the elements that you are operating
767	>	* on. Using a Visitor pattern allows you to decouple the classes for the data structure and the
768	>	* algorithms used upon them
769	>	* </p>
770	>	* @param v visitor
771	>	*/
772	>	void accept(BaseVisitor* v) {
773	>	sd_->accept(v);
774	>	}
775	>
776	>	//below functions are just forward functions
777	>	/**
778	>	* Adds property into property map
779	>	* @param genData GenericData to be added into PropertyMap
780	>	*/
781	>	void addProperty(GenericData* genData){
782	>	sd_->addProperty(genData);
783	>	}
784	>
785	>	/**
786	>	* Removes property from PropertyMap by name
787	>	* @param propName the name of property to be removed
788	>	*/
789	>	void removeProperty(const std::string& propName) {
790	>	sd_->removeProperty(propName);
791	>	}
792	>
793	>	/**
794	>	* clear all of the properties
795	>	*/
796	>	void clearProperties() {
797	>	sd_->clearProperties();
798	>	}
799	>
800	>	/**
801	>	* Returns all names of properties
802	>	* @return all names of properties
803	>	*/
804	>	std::vector<std::string> getPropertyNames() {
805	>	return sd_->getPropertyNames();
806	>	}
807	>
808	>	/**
809	>	* Returns all of the properties in PropertyMap
810	>	* @return all of the properties in PropertyMap
811	>	*/
812	>	std::vector<GenericData*> getProperties() {
813	>	return sd_->getProperties();
814	>	}
815	>
816	>	/**
817	>	* Returns property
818	>	* @param propName name of property
819	>	* @return a pointer point to property with propName. If no property named propName
820	>	* exists, return NULL
821	>	*/
822	>	GenericData* getPropertyByName(const std::string& propName) {
823	>	return sd_->getPropertyByName(propName);
824	>	}
825	>
826	>	private:
827	>	StuntDouble* sd_;
828	>	BoolGenericData* moved_;
829	>	BoolGenericData* moving_;
830	>	};
831	>
832		}
833
834		#endif

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