16 #ifndef SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H 17 #define SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H 43 const std::shared_ptr<SurgSim::Math::OdeState> state,
44 size_t nodeId0,
size_t nodeId1,
45 double stiffness,
double damping);
51 #endif // SURGSIM_BLOCKS_MASSSPRINGNDREPRESENTATIONUTILS_H Definition: DriveElementFromInputBehavior.cpp:27
std::shared_ptr< SurgSim::Physics::LinearSpring > createLinearSpring(const std::shared_ptr< SurgSim::Math::OdeState > state, size_t nodeId0, size_t nodeId1, double stiffness, double damping)
Helper method to create a LinearSpring.
Definition: MassSpringNDRepresentationUtils.cpp:26
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
Linear spring connecting 2 nodes with a viscous term.
Definition: LinearSpring.h:28