mbsim 4.0.0 MBSim Kernel

line_segment.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 _LINE_SEGMENT_H_
21 #define _LINE_SEGMENT_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/frames/frame.h"
25 #include "mbsim/utils/boost_parameters.h"
26 #include "mbsim/utils/openmbv_utils.h"
27 #include <openmbvcppinterface/indexedlineset.h>
28
29 namespace MBSim {
30
37 class LineSegment : public MBSim::RigidContour {
38 public:
43 LineSegment(const std::string& name, double l, double t, Frame *R=nullptr);
44
45 LineSegment(const std::string& name, double l, Frame *R=nullptr);
46
47 LineSegment(const std::string& name="", Frame *R=nullptr);
48
49 /* INHERITED INTERFACE OF ELEMENT */
50 void init(InitStage stage, const InitConfigSet &config) override;
51 /***************************************************/
52
53 /* INHERITED INTERFACE OF CONTOUR */
54 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
55 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return ey; }
56 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
57 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override { return evalKs(zeta); }
58 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override { return evalKt(zeta); }
59 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override { return ex; }
60 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
61 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override { return zero3; }
62 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override { return zero3; }
63
64 fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(1); }
65 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
66 fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
67 fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
68 fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(0); }
69 fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
70 fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override { return zero3; }
71 fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
72 /***************************************************/
73
74 virtual double getCurvature(const fmatvec::Vec2 &zeta) { return 0; }
75
76 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))) {
77 OpenMBVLine ombv(1,diffuseColor,transparency,pointSize,lineWidth);
78 openMBVRigidBody=ombv.createOpenMBV();
79 }
80
81 void initializeUsingXML(xercesc::DOMElement *element) override;
82
83 /* GETTER / SETTER */
84 void setLength(double length_) {length = length_; }
85 double getLength() const {return length; }
86 /***************************************************/
87
88 private:
92 double length{1};
93
94 };
95 }
96
97 #endif /* _LINE_SEGMENT_H_ */
MBSim::LineSegment::evalWn
fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:68
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::LineSegment::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:60
MBSim::LineSegment::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:61
MBSim::LineSegment
line segment with two bounds
Definition: line_segment.h:37
MBSim::LineSegment::evalWu
fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:66
MBSim::LineSegment::evalParDer1Wv
fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:70
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::LineSegment::LineSegment
LineSegment(const std::string &name, double l, double t, Frame *R=nullptr)
constructor
Definition: line_segment.cc:32
MBSim::LineSegment::length
double length
length of line segment
Definition: line_segment.h:92
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::LineSegment::evalWt
fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:65
MBSim::LineSegment::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: line_segment.cc:48
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::LineSegment::evalWs
fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:64
MBSim::LineSegment::evalWv
fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:67
MBSim::LineSegment::evalParDer1Wu
fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:69
MBSim::LineSegment::evalParDer1Wn
fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override
Definition: line_segment.h:71
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30