mbsim 4.0.0 MBSim Kernel

compoundcontour_compoundcontour.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_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_
21 #define _CONTACT_KINEMATICS_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class CompoundContour;
28 class Contour;
29
35 class ContactKinematicsCompoundContourCompoundContour : public ContactKinematics {
36 public:
37 ContactKinematicsCompoundContourCompoundContour(int maxNumContacts=1) : ContactKinematics(maxNumContacts) { }
38
39 ~ContactKinematicsCompoundContourCompoundContour() override;
40
41 /* INHERITED INTERFACE */
42 void assignContours(const std::vector<Contour*> &contour) override;
43 void updateg(std::vector<SingleContact> &contact) override;
44 /***************************************************/
45
46 private:
50 CompoundContour *contour0;
51 CompoundContour *contour1;
52
56 std::vector<ContactKinematics*> contactKinematics;
57 };
58
59 }
60
61 #endif /* _CONTACT_KINEMATICS_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_ */
MBSim::ContactKinematicsCompoundContourCompoundContour::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: compoundcontour_compoundcontour.cc:35
MBSim::CompoundContour
contour consisting of primitive contour elements
Definition: compound_contour.h:34
MBSim::ContactKinematicsCompoundContourCompoundContour
contact paring between set of contours and set of contours
Definition: compoundcontour_compoundcontour.h:35
MBSim::ContactKinematicsCompoundContourCompoundContour::updateg
void updateg(std::vector< SingleContact > &contact) override
compute contact kinematics for all contacts
Definition: compoundcontour_compoundcontour.cc:56
MBSim::ContactKinematicsCompoundContourCompoundContour::contour0
CompoundContour * contour0
contour classes
Definition: compoundcontour_compoundcontour.h:50
MBSim::ContactKinematics::maxNumContacts
int maxNumContacts
maximum number of contacts
Definition: contact_kinematics.h:141
MBSim::ContactKinematicsCompoundContourCompoundContour::contactKinematics
std::vector< ContactKinematics * > contactKinematics
contact kinematics possibilities between compound contours
Definition: compoundcontour_compoundcontour.h:56
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::ContactKinematics::ContactKinematics
ContactKinematics(int maxNumContacts_=1)
constructor
Definition: contact_kinematics.h:46
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30