mbsim 4.0.0 MBSim Kernel

planar_contour.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _PLANAR_CONTOUR_H_
21 #define _PLANAR_CONTOUR_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/frames/frame.h"
25 #include "mbsim/utils/boost_parameters.h"
26 #include <mbsim/utils/openmbv_utils.h>
27
28 namespace MBSim {
29
30 template <class Sig> class Function;
31
38 class PlanarContour : public RigidContour {
39 public:
44 PlanarContour(const std::string &name="", Frame *R=nullptr) : RigidContour(name,R) { }
45
49 ~PlanarContour() override;
50
51 /* INHERITED INTERFACE OF ELEMENT */
52 /***************************************************/
53
54 /* INHERITED INTERFACE OF CONTOUR */
55 void init(InitStage stage, const InitConfigSet &config) override;
56 double getCurvature(const fmatvec::Vec2 &zeta);
57 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
58 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
59 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
60 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override { return crossProduct(evalKu(zeta),ez); }
61 fmatvec::Vec3 evalParDer1Ks(const fmatvec::Vec2 &zeta) override;
62 fmatvec::Vec3 evalParDer1Kt(const fmatvec::Vec2 &zeta) override { return zero3; }
63 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
64
65 fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return crossProduct(evalWu(zeta),R->evalOrientation().col(2)); }
66 /***************************************************/
67
68 /* GETTER / SETTER */
69 void setContourFunction(Function<fmatvec::Vec3(double)> *func);
70 Function<fmatvec::Vec3(double)>* getContourFunction() { return funcCrPC; }
71 /***************************************************/
72
73 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (nodes,(const std::vector<double>&),std::vector<double>())(filled,(bool),0)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
74 ombv = std::shared_ptr<OpenMBVPlanarContour>(new OpenMBVPlanarContour(nodes,filled,diffuseColor,transparency,pointSize,lineWidth));
75 openMBVRigidBody=ombv->createOpenMBV();
76 }
77
78 void initializeUsingXML(xercesc::DOMElement *element) override;
79
80 void setNodes(const std::vector<double> &nodes_) { etaNodes = nodes_; }
81
82 bool isZetaOutside(const fmatvec::Vec2 &zeta) override { return open and (zeta(0) < etaNodes[0] or zeta(0) > etaNodes[etaNodes.size()-1]); }
83
84 void setOpen(bool open_=true) { open = open_; }
85
86 protected:
87 Function<fmatvec::Vec3(double)> * funcCrPC{nullptr};
88 bool open{false};
89 std::shared_ptr<OpenMBVPlanarContour> ombv;
90 };
91
92 }
93
94 #endif
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::PlanarContour::evalWn
fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override
Definition: planar_contour.h:65
MBSim::RigidContour::evalWu
fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override
Definition: rigid_contour.cc:134
MBSim::PlanarContour::PlanarContour
PlanarContour(const std::string &name="", Frame *R=nullptr)
constructor
Definition: planar_contour.h:44
MBSim::PlanarContour::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: planar_contour.cc:59
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::PlanarContour::~PlanarContour
~PlanarContour() override
destructor
Definition: planar_contour.cc:36
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::PlanarContour
analytical description of contours with one contour parameter
Definition: planar_contour.h:38
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30