mbsim 4.0.0 MBSim Kernel

point_extrusion.h
1 /* Copyright (C) 2004-2015 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_EXTRUSION_H_
21 #define POINT_EXTRUSION_H_
22
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Point;
28 class FuncPairPlanarContourPoint;
29
34 class ContactKinematicsPointExtrusion : public MBSim::ContactKinematics {
35 public:
39 ContactKinematicsPointExtrusion() { }
40
44 ~ContactKinematicsPointExtrusion() override;
45
46 /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
47 void calcisSize() override { isSize = 1; }
48 void assignContours(const std::vector<MBSim::Contour*>& contour) override;
49 void search() override;
50 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
51 void updateg(SingleContact &contact, int i=0) override;
52 /***************************************************/
53
54 protected:
58 int ipoint{0};
59 int iextrusion{0};
60
64 MBSim::Point *point{0};
65 Contour *extrusion{0};
66
67 MBSim::FuncPairPlanarContourPoint *func;
68 };
69
70 }
71
72 #endif
MBSim::ContactKinematicsPointExtrusion::ipoint
int ipoint
contour index
Definition: point_extrusion.h:58
MBSim::ContactKinematicsPointExtrusion::~ContactKinematicsPointExtrusion
~ContactKinematicsPointExtrusion() override
destructor
Definition: point_extrusion.cc:33
MBSim::FuncPairPlanarContourPoint
root function for pairing PlanarContour and Point
Definition: funcpair_planarcontour_point.h:34
MBSim::Contour
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::ContactKinematicsPointExtrusion::point
MBSim::Point * point
contour classes
Definition: point_extrusion.h:64
MBSim::ContactKinematicsPointExtrusion
pairing point to extrusion
Definition: point_extrusion.h:34
MBSim::ContactKinematicsPointExtrusion::ContactKinematicsPointExtrusion
ContactKinematicsPointExtrusion()
constructor
Definition: point_extrusion.h:39
MBSim::ContactKinematicsPointExtrusion::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: point_extrusion.cc:53
MBSim::ContactKinematicsPointExtrusion::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: point_extrusion.cc:89
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::Point
most primitive contour: the point (no extention)
Definition: point.h:35
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30