mbsim 4.0.0 MBSim Kernel

circle_planarcontour.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 _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
21 #define _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Circle;
28 class FuncPairPlanarContourCircle;
29
35 class ContactKinematicsCirclePlanarContour : public ContactKinematics {
36 public:
40 ContactKinematicsCirclePlanarContour() = default;
41
45 ~ContactKinematicsCirclePlanarContour() override;
46
47 /* INHERITED INTERFACE */
48 void calcisSize() override { isSize = maxNumContacts; }
49 void assignContours(const std::vector<Contour*> &contour) override;
50 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
51 void search() override;
52 void updateg(SingleContact &contact, int i=0) override;
53 void updatewb(SingleContact &contact, int i=0) override;
54 /***************************************************/
55
56 private:
60 int icircle{0};
61 int iplanarcontour{0};
62
66 Circle *circle{nullptr};
67 Contour *planarcontour{nullptr};
68
72 FuncPairPlanarContourCircle *func;
73 };
74
75 }
76
77 #endif
MBSim::ContactKinematicsCirclePlanarContour::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: circle_planarcontour.cc:52
MBSim::ContactKinematicsCirclePlanarContour
pairing outer circle side to planar contour
Definition: circle_planarcontour.h:35
MBSim::ContactKinematicsCirclePlanarContour::icircle
int icircle
contour index
Definition: circle_planarcontour.h:60
MBSim::Contour
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::ContactKinematicsCirclePlanarContour::circle
Circle * circle
contour classes
Definition: circle_planarcontour.h:66
MBSim::ContactKinematicsCirclePlanarContour::~ContactKinematicsCirclePlanarContour
~ContactKinematicsCirclePlanarContour() override
destructor
Definition: circle_planarcontour.cc:32
MBSim::ContactKinematics::maxNumContacts
int maxNumContacts
maximum number of contacts
Definition: contact_kinematics.h:141
MBSim::ContactKinematicsCirclePlanarContour::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: circle_planarcontour.cc:70
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::ContactKinematicsCirclePlanarContour::ContactKinematicsCirclePlanarContour
ContactKinematicsCirclePlanarContour()=default
constructor
MBSim::ContactKinematicsCirclePlanarContour::func
FuncPairPlanarContourCircle * func
root function
Definition: circle_planarcontour.h:72
MBSim::ContactKinematicsCirclePlanarContour::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: circle_planarcontour.cc:36
MBSim::ContactKinematicsCirclePlanarContour::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: circle_planarcontour.cc:91
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::FuncPairPlanarContourCircle
root function for pairing PlanarContour and Circle
Definition: funcpair_planarcontour_circle.h:34
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30