sc_multi_body_central_hub.h

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#ifndef __MULTI_BODY_CENTRAL_HUB__
#define __MULTI_BODY_CENTRAL_HUB__
 
#ifdef AS_OS_WINDOWS
        #include "matrixlib.h"
#else
        #include <MatrixLib/MatrixLib.h>
#endif
 
class multi_body_central_hub
{
                
        private:
        ml_matrix inr;
        ml_matrix m;
        ml_matrix lambda;
        ml_matrix u;
        ml_matrix rho;
        ml_matrix x;
        ml_matrix x_dot;
        int n;
        ml_matrix h;
        ml_matrix torque0;
        int momentum_only;
        ml_matrix inr_core;
 
        public:
        
                                        multi_body_central_hub( void );
        void            add_central_body( const ml_matrix& inr6x1, double m, const ml_matrix& rho );
        void            add_body( const ml_matrix& inr6x1, double m, const ml_matrix& lambda, const ml_matrix& rho, const ml_matrix& u );
        void            initialize_state( const ml_matrix& x );
        ml_matrix   state_derivative( const ml_matrix& x, const ml_matrix& torque );
        ml_matrix   get_inertial_angular_momentum( void ){return h;};
        ml_matrix   get_inertia( void ){return inr_core;};
        int         get_number_of_bodies( void ){return n;};
        void        set_hub_torque( const ml_matrix& torque ){torque0 = torque;};
        void        set_compute_momentum_only( void ){momentum_only = 1;};
        void        set_compute_rhs( void ){momentum_only = 0;};
};
 
 
#endif