mbsim 4.0.0 MBSim Kernel

jacpair_hyperbola_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_HYPERBOLA_CIRCLE_H_
21 #define _JACPAIR_HYPERBOLA_CIRCLE_H_
22
23 #include <mbsim/functions/contact/jacpair_conesection_circle.h>
24
25 namespace MBSim {
26
32 class JacobianPairHyperbolaCircle : public JacobianPairConeSectionCircle {
33 public:
39 JacobianPairHyperbolaCircle(double a_, double b_) :
40 JacobianPairConeSectionCircle(a_, b_) {
41 }
42
43 /* INHERITED INTERFACE OF FUNCTION */
44 double operator()(const double &phi) override;
45 /*************************************************/
46 };
47
48 inline double JacobianPairHyperbolaCircle::operator()(const double &phi) {
49 return -2 * (b * (b2(0) * d(0) + b2(1) * d(1) + b2(2) * d(2)) * sinh(phi) + a * (b1(0) * d(0) + b1(1) * d(1) + b1(2) * d(2)) * cosh(phi) + ((a * a) + (b * b)) * cosh(2 * phi));
50 }
51
52 }
53
54 #endif
MBSim::JacobianPairHyperbolaCircle::JacobianPairHyperbolaCircle
JacobianPairHyperbolaCircle(double a_, double b_)
constructor
Definition: jacpair_hyperbola_circle.h:39
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
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::JacobianPairHyperbolaCircle
Jacobian of root function for planar pairing Hyperbola and Circle.
Definition: jacpair_hyperbola_circle.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30