mbsim 4.0.0 MBSim Kernel

Public Member Functions | Protected Attributes | List of all members
MBSim::ContactKinematicsPointFrustum Class Reference

pairing point to frustum surface More...

`#include <point_frustum.h>`

Inheritance diagram for MBSim::ContactKinematicsPointFrustum:
[legend]

## Public Member Functions

void | assignContours (const std::vector< Contour * > &contour) override
| treats ordering of contours More...
void | updateg (SingleContact &contact, int i=0) override
| compute contact kinematics for a single contact More...
Public Member Functions inherited from MBSim::ContactKinematics
| ContactKinematics (int maxNumContacts_=1)
| constructor
| ~ContactKinematics () override=default
| destructor
virtual void | calcisSize ()
void | setisInd (int ind)
int | getisSize ()
virtual void | updateInternalStateRef (fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent)
virtual void | search ()
virtual void | updateg (std::vector< SingleContact > &contact)
| compute contact kinematics for all contacts More...
virtual void | updatewb (std::vector< SingleContact > &contact)
| compute contact kinematics on acceleration level for all contacts More...
virtual void | updatewb (SingleContact &contact, int i=0)
| compute contact kinematics on acceleration level for a single contact More...
void | assignContours (Contour *contour1, Contour *contour2)
| treats ordering of contours More...
int | getMaximumNumberOfContacts () const
void | setGlobalSearch (bool gS_=true)
void | setInitialGlobalSearch (bool iGS_=true)
virtual void | setInitialGuess (const fmatvec::MatV &zeta0_)
| set initial guess for root-finding
void | setTolerance (double tol_)
| set tolerance for root-finding
void | setMaximumNumberOfContacts (int maxNumContacts_)
| set maximum number of contacts

## Protected Attributes

int | ipoint
| contour index
int | ifrustum
Point * | point
| contour classes
Frustum * | frustum
Protected Attributes inherited from MBSim::ContactKinematics
double | tol {1e-10}
| tolerance for root-finding
int | maxNumContacts {1}
| maximum number of contacts
fmatvec::Vec | curis
fmatvec::Vec | nextis
int | isInd { 0 }
int | isSize { 0 }
std::vector< Contour * > | contour
bool | gS {false}
bool | iGS {false}

## Additional Inherited Members

Static Public Member Functions inherited from MBSim::ContactKinematics
static std::vector< double > | searchPossibleContactPoints (Function< double(double)> *func, double eta, const std::vector< double > &nodes, double tol)
static std::vector< double > | searchPossibleContactPoints (Function< fmatvec::Vec(fmatvec::Vec)> *func, int i, fmatvec::Vec &zeta, const std::vector< double > &nodes, double tol)

## Detailed Description

pairing point to frustum surface

Author
  Martin Foerg
  Thorsten Schindler

REMARK The first tangential of the contact frame of the frustum points in positive axial direction, i.e. the height direction

## Member Function Documentation

## ◆ assignContours()

void MBSim::ContactKinematicsPointFrustum::assignContours | ( | const std::vector< Contour * > & | contour_ | ) |

override virtual

treats ordering of contours

Parameters

  contour | vector

Reimplemented from MBSim::ContactKinematics.

## ◆ updateg()

void MBSim::ContactKinematicsPointFrustum::updateg | ( | SingleContact & | contact,
|  | int | i = `0`
| ) |  |

override virtual

compute contact kinematics for a single contact

Parameters

  conctact | single contact
  i | index of the contact that should be updated

Reimplemented from MBSim::ContactKinematics.

The documentation for this class was generated from the following files:

- /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/point_frustum.h
- /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/point_frustum.cc