mbsim 4.0.0 MBSim Kernel

point.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 _POINT_H_
21 #define _POINT_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/utils/boost_parameters.h"
25 #include "mbsim/utils/openmbv_utils.h"
26 #include <openmbvcppinterface/pointset.h>
27
28 namespace MBSim {
29
35 class Point : public MBSim::RigidContour {
36 public:
41 Point(const std::string& name="", Frame *R=nullptr) : RigidContour(name,R) { }
42
43 /* INHERITED INTERFACE OF CONTOUR */
44 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override { return zero3; }
45 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return zero3; }
46 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
47 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
48 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
49 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
50 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override;
51 fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
52 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override;
53 fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override;
54 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
55 fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override;
56
57 fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return zero3; }
58 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
59
60 fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPS) override { return fmatvec::Vec2(fmatvec::INIT,0.); }
61 /**********************************/
62
63 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
64 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
65 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::PointSet>();
66 }
67
68 void init(InitStage stage, const InitConfigSet &config) override;
69 void initializeUsingXML(xercesc::DOMElement *element) override;
70 };
71
72 }
73
74 #endif /* _POINT_H_ */
OpenMBV::PointSet
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Point::Point
Point(const std::string &name="", Frame *R=nullptr)
constructor
Definition: point.h:41
MBSim::Point::evalWt
fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override
Definition: point.h:58
MBSim::Point::evalParDer2Kv
fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override
Definition: point.cc:82
MBSim::Point::evalWs
fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override
Definition: point.h:57
MBSim::Point::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: point.cc:112
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Point::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: point.cc:72
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::Point::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: point.cc:63
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Point
most primitive contour: the point (no extention)
Definition: point.h:35
MBSim::Point::evalParDer2Ku
fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override
Definition: point.h:51
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30