mbsim 4.0.0 MBSim Kernel

point_circle.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_POINT_CIRCLE_H_
21 #define _CONTACT_KINEMATICS_POINT_CIRCLE_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Point;
28 class Circle;
29
34 class ContactKinematicsPointCircle : public ContactKinematics {
35 public:
36 /* INHERITED INTERFACE */
37 void assignContours(const std::vector<Contour*> &contour) override;
38 void updateg(SingleContact &contact, int i=0) override;
39 void updatewb(SingleContact &contact, int i=0) override;
40 /***************************************************/
41
42 private:
46 int ipoint, icircle;
47
51 Point *point;
52 Circle *circle;
53 };
54
55 }
56
57 #endif
MBSim::ContactKinematicsPointCircle::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: point_circle.cc:65
MBSim::ContactKinematicsPointCircle::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: point_circle.cc:47
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::ContactKinematicsPointCircle::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: point_circle.cc:32
MBSim::ContactKinematicsPointCircle::ipoint
int ipoint
contour index
Definition: point_circle.h:46
MBSim::ContactKinematicsPointCircle::point
Point * point
contour classes
Definition: point_circle.h:51
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::Point
most primitive contour: the point (no extention)
Definition: point.h:35
MBSim::ContactKinematicsPointCircle
pairing point to circesolid
Definition: point_circle.h:34
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30