mbsim 4.0.0 MBSim Kernel

jacpair_conesection_circle.h
1 /* Copyright (C) 2004-2010 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 _JACPAIR_CONESECTION_CIRCLE_H_
21 #define _JACPAIR_CONESECTION_CIRCLE_H_
22
23 #include <mbsim/functions/function.h>
24
25 namespace MBSim {
26
32 class JacobianPairConeSectionCircle : public Function<double(double)> {
33 public:
39 JacobianPairConeSectionCircle(double a_, double b_) :
40 a(a_), b(b_) {
41 }
42
43 /* GETTER / SETTER */
44 void setDiffVec(fmatvec::Vec3 d_);
45 void setSectionCOS(fmatvec::Vec3 b1_, fmatvec::Vec3 b2_);
46 /*************************************************/
47
48 protected:
52 double a, b;
53
57 fmatvec::Vec3 b1, b2;
58
62 fmatvec::Vec3 d;
63 };
64
65 inline void JacobianPairConeSectionCircle::setDiffVec(fmatvec::Vec3 d_) {
66 d = d_;
67 }
68 inline void JacobianPairConeSectionCircle::setSectionCOS(fmatvec::Vec3 b1_, fmatvec::Vec3 b2_) {
69 b1 = b1_;
70 b2 = b2_;
71 }
72
73 }
74
75 #endif
MBSim::JacobianPairConeSectionCircle::a
double a
length in b1- and b2-direction
Definition: jacpair_conesection_circle.h:52
MBSim::JacobianPairConeSectionCircle::d
fmatvec::Vec3 d
distance-vector of circle- and cone-section-midpoint
Definition: jacpair_conesection_circle.h:62
MBSim::JacobianPairConeSectionCircle::JacobianPairConeSectionCircle
JacobianPairConeSectionCircle(double a_, double b_)
constructor
Definition: jacpair_conesection_circle.h:39
MBSim::JacobianPairConeSectionCircle
base Jacobian of root function for planar pairing ConeSection and Circle
Definition: jacpair_conesection_circle.h:32
MBSim::JacobianPairConeSectionCircle::b1
fmatvec::Vec3 b1
normed base-vectors of cone-section
Definition: jacpair_conesection_circle.h:57
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30