mbsim 4.0.0 MBSim Kernel

tyre.h
1 /* Copyright (C) 2004-2022 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 _TYRE_H
21 #define _TYRE_H
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/utils/boost_parameters.h"
25 #include "mbsim/utils/openmbv_utils.h"
26
27 namespace MBSim {
28
29 class Tyre : public RigidContour {
30 public:
31 enum ShapeOfCrossSectionContour {
32 flat=0,
33 circular,
34 elliptical,
35 unknown
36 };
37
38 Tyre(const std::string& name="", Frame *R=nullptr) : RigidContour(name,R) { }
39 ~Tyre() override = default;
40
41 void init(InitStage stage, const InitConfigSet &config) override;
42
43 void setRadius(double r_) { r = r_; }
44 void setWidth(double w_) { w = w_; }
45 void setContourParameters(const fmatvec::VecV &cp_) { cp <<= cp_; }
46 void setShapeOfCrossSectionContour(ShapeOfCrossSectionContour shape_) { shape = shape_; }
47 double getRadius() const { return r; }
48 double getWidth() const { return w; }
49 const fmatvec::VecV& getContourParameters() const { return cp; }
50 ShapeOfCrossSectionContour getShapeOfCrossSectionContour() const { return shape; }
51
52 // 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))) {
53 // OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
54 // openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Frustum>();
55 // }
56
57 void initializeUsingXML(xercesc::DOMElement *element) override;
58
59 protected:
60 double r{0.3};
61 double w{-1};
62 ShapeOfCrossSectionContour shape{flat};
63 fmatvec::VecV cp;
64 double rRim{0};
65 };
66
67 }
68
69 #endif
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::RigidContour::RigidContour
RigidContour(const std::string &name, Frame *R_=nullptr)
constructor
Definition: rigid_contour.h:43
MBSim::Tyre::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: tyre.cc:34
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
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::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Tyre
Definition: tyre.h:29
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30