mbsim 4.0.0 MBSim Kernel

cylindricalgear_rack.h
1 /* Copyright (C) 2004-2019 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_CYLINDRICALGEAR_RACK_H_
21 #define _CONTACT_KINEMATICS_CYLINDRICALGEAR_RACK_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class CylindricalGear;
28 class Rack;
29
34 class ContactKinematicsCylindricalGearRack : public ContactKinematics {
35 public:
39 ContactKinematicsCylindricalGearRack() = default;
40
44 ~ContactKinematicsCylindricalGearRack() override = default;
45
46 /* INHERITED INTERFACE */
47 void assignContours(const std::vector<Contour*> &contour) override;
48 void updateg(SingleContact &contact, int i=0) override;
49 void updatewb(SingleContact &contact, int i=0) override;
50 /***************************************************/
51
52 private:
56 int igear;
57 int irack;
58 double m;
59 double al0;
60 int z[2];
61 double beta[2];
62 int ksave[2][2];
63 int signisave[2]{1,1};
64 double s0h2, delh1;
65
69 CylindricalGear *gear;
70 Rack *rack;
71 };
72
73 }
74
75 #endif
MBSim::ContactKinematicsCylindricalGearRack::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: cylindricalgear_rack.cc:142
MBSim::ContactKinematicsCylindricalGearRack::gear
CylindricalGear * gear
contour classes
Definition: cylindricalgear_rack.h:69
MBSim::Rack
rack contour
Definition: rack.h:34
MBSim::ContactKinematicsCylindricalGearRack::ContactKinematicsCylindricalGearRack
ContactKinematicsCylindricalGearRack()=default
constructor
MBSim::ContactKinematicsCylindricalGearRack
pairing cylindrical gear to rack
Definition: cylindricalgear_rack.h:34
MBSim::ContactKinematicsCylindricalGearRack::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: cylindricalgear_rack.cc:32
MBSim::CylindricalGear
cylindrical gear contour
Definition: cylindrical_gear.h:34
MBSim::ContactKinematicsCylindricalGearRack::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: cylindricalgear_rack.cc:53
MBSim::ContactKinematicsCylindricalGearRack::~ContactKinematicsCylindricalGearRack
~ContactKinematicsCylindricalGearRack() override=default
destructor
MBSim::ContactKinematicsCylindricalGearRack::igear
int igear
contour index
Definition: cylindricalgear_rack.h:56
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30