mbsim 4.0.0 MBSim Kernel

planarcontour_planarcontour.h
1 /* Copyright (C) 2004-2020 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_PLANARCONTOUR_PLANARCONTOUR_H_
21 #define _CONTACT_KINIMATICS_PLANARCONTOUR_PLANARCONTOUR_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class FuncPairPlanarContourPlanarContour;
28
32 class ContactKinematicsPlanarContourPlanarContour : public ContactKinematics {
33 public:
34 ContactKinematicsPlanarContourPlanarContour() = default;
35 ~ContactKinematicsPlanarContourPlanarContour();
36
37 /* INHERITED INTERFACE */
38 void calcisSize() override { isSize = 2*maxNumContacts; }
39 void assignContours(const std::vector<Contour*> &contour) override;
40 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
41 void search() override;
42 void updateg(SingleContact &contact, int i=0) override;
43 void updatewb(SingleContact &contact, int i=0) override;
44 /***************************************************/
45
46 private:
50 MBSim::FuncPairPlanarContourPlanarContour *func;
51 };
52
53 }
54
55 #endif
MBSim::ContactKinematicsPlanarContourPlanarContour::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: planarcontour_planarcontour.cc:36
MBSim::FuncPairPlanarContourPlanarContour
root function for pairing planar contour and planar contour
Definition: funcpair_planarcontour_planarcontour.h:32
MBSim::ContactKinematicsPlanarContourPlanarContour::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: planarcontour_planarcontour.cc:61
MBSim::ContactKinematicsPlanarContourPlanarContour
pairing spatial contour to spatial contour
Definition: planarcontour_planarcontour.h:32
MBSim::ContactKinematics::maxNumContacts
int maxNumContacts
maximum number of contacts
Definition: contact_kinematics.h:141
MBSim::ContactKinematicsPlanarContourPlanarContour::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: planarcontour_planarcontour.cc:84
MBSim::ContactKinematicsPlanarContourPlanarContour::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: planarcontour_planarcontour.cc:41
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::ContactKinematicsPlanarContourPlanarContour::func
MBSim::FuncPairPlanarContourPlanarContour * func
root function
Definition: planarcontour_planarcontour.h:50
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30