mbsim 4.0.0 MBSim Kernel

circle_line.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 _CONTACT_KINEMATICS_CIRCLE_LINE_H_
21 #define _CONTACT_KINEMATICS_CIRCLE_LINE_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Circle;
28 class Line;
29
35 class ContactKinematicsCircleLine : public ContactKinematics {
36 public:
37 /* INHERITED INTERFACE */
38 void assignContours(const std::vector<Contour*> &contour) override;
39 void updateg(SingleContact &contact, int i=0) override;
40 void updatewb(SingleContact &contact, int i=0) override;
41 /***************************************************/
42
43 private:
47 int icircle, iline;
48
52 Circle *circle;
53 Line *line;
54 };
55
56 }
57
58 #endif
MBSim::ContactKinematicsCircleLine::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: circle_line.cc:31
MBSim::ContactKinematicsCircleLine::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: circle_line.cc:44
MBSim::ContactKinematicsCircleLine
pairing circle outer surface to line
Definition: circle_line.h:35
MBSim::Line
unbounded line with constant normal
Definition: line.h:36
MBSim::ContactKinematicsCircleLine::icircle
int icircle
contour index
Definition: circle_line.h:47
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::ContactKinematicsCircleLine::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: circle_line.cc:62
MBSim::ContactKinematicsCircleLine::circle
Circle * circle
contour classes
Definition: circle_line.h:52
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30