mbsim 4.0.0 MBSim Kernel

Public Member Functions | Private Attributes | List of all members
MBSim::ContactKinematicsCirclePlanarFrustum Class Reference

pairing circle outer side to planar frustum More...

`#include <circle_planarfrustum.h>`

Inheritance diagram for MBSim::ContactKinematicsCirclePlanarFrustum:
[legend]

## Public Member Functions

void | assignContours (const std::vector< Contour * > &contour) override
| treats ordering of contours More...
void | updateg (SingleContact &contact, int i=0) override
| compute contact kinematics for a single contact More...
Public Member Functions inherited from MBSim::ContactKinematics
| ContactKinematics (int maxNumContacts_=1)
| constructor
| ~ContactKinematics () override=default
| destructor
virtual void | calcisSize ()
void | setisInd (int ind)
int | getisSize ()
virtual void | updateInternalStateRef (fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent)
virtual void | search ()
virtual void | updateg (std::vector< SingleContact > &contact)
| compute contact kinematics for all contacts More...
virtual void | updatewb (std::vector< SingleContact > &contact)
| compute contact kinematics on acceleration level for all contacts More...
virtual void | updatewb (SingleContact &contact, int i=0)
| compute contact kinematics on acceleration level for a single contact More...
void | assignContours (Contour *contour1, Contour *contour2)
| treats ordering of contours More...
int | getMaximumNumberOfContacts () const
void | setGlobalSearch (bool gS_=true)
void | setInitialGlobalSearch (bool iGS_=true)
virtual void | setInitialGuess (const fmatvec::MatV &zeta0_)
| set initial guess for root-finding
void | setTolerance (double tol_)
| set tolerance for root-finding
void | setMaximumNumberOfContacts (int maxNumContacts_)
| set maximum number of contacts

## Private Attributes

int | icircle
| contour index
int | ifrustum
Circle * | circle
| contour classes
PlanarFrustum * | frustum

## Additional Inherited Members

Static Public Member Functions inherited from MBSim::ContactKinematics
static std::vector< double > | searchPossibleContactPoints (Function< double(double)> *func, double eta, const std::vector< double > &nodes, double tol)
static std::vector< double > | searchPossibleContactPoints (Function< fmatvec::Vec(fmatvec::Vec)> *func, int i, fmatvec::Vec &zeta, const std::vector< double > &nodes, double tol)
Protected Attributes inherited from MBSim::ContactKinematics
double | tol {1e-10}
| tolerance for root-finding
int | maxNumContacts {1}
| maximum number of contacts
fmatvec::Vec | curis
fmatvec::Vec | nextis
int | isInd { 0 }
int | isSize { 0 }
std::vector< Contour * > | contour
bool | gS {false}
bool | iGS {false}

## Detailed Description

pairing circle outer side to planar frustum

Author
  Martin Foerg

## Member Function Documentation

## ◆ assignContours()

void MBSim::ContactKinematicsCirclePlanarFrustum::assignContours | ( | const std::vector< Contour * > & | contour_ | ) |

override virtual

treats ordering of contours

Parameters

  contour | vector

Reimplemented from MBSim::ContactKinematics.

## ◆ updateg()

void MBSim::ContactKinematicsCirclePlanarFrustum::updateg | ( | SingleContact & | contact,
|  | int | i = `0`
| ) |  |

override virtual

compute contact kinematics for a single contact

Parameters

  conctact | single contact
  i | index of the contact that should be updated

Reimplemented from MBSim::ContactKinematics.

The documentation for this class was generated from the following files:

- /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/circle_planarfrustum.h
- /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/circle_planarfrustum.cc