mbsim 4.0.0 MBSim Kernel

circle_frustum.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 CIRCLE_FRUSTUM_H_
21 #define CIRCLE_FRUSTUM_H_
22
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Circle;
28 class Frustum;
29 class FuncPairConeSectionCircle;
30 class JacobianPairConeSectionCircle;
31
39 class ContactKinematicsCircleFrustum : public ContactKinematics {
40 public:
47 ContactKinematicsCircleFrustum();
48
52 ~ContactKinematicsCircleFrustum() override;
53
54 void search_();
55
56 /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
57 void calcisSize() override { isSize = 1; }
58 void assignContours(const std::vector<Contour*> &contour) override;
59 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
60 void updateg(SingleContact &contact, int i=0) override;
61 /***************************************************/
62
63 protected:
67 int icircle, ifrustum;
68
72 Frustum *frustum;
73 Circle *circle;
74
75 FuncPairConeSectionCircle *funcRho;
76 JacobianPairConeSectionCircle *jacRho;
77 std::vector<double> nodes;
78 };
79
80 }
81
82 #endif /* CIRCLE_FRUSTUM_H_ */
MBSim::Frustum
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
MBSim::ContactKinematicsCircleFrustum::frustum
Frustum * frustum
contour classes
Definition: circle_frustum.h:72
MBSim::ContactKinematicsCircleFrustum::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: circle_frustum.cc:59
MBSim::ContactKinematicsCircleFrustum::ContactKinematicsCircleFrustum
ContactKinematicsCircleFrustum()
constructor \default no debugging \default no warnings \default global search
Definition: circle_frustum.cc:37
MBSim::FuncPairConeSectionCircle
base root function for planar pairing ConeSection and Circle
Definition: funcpair_conesection_circle.h:32
MBSim::JacobianPairConeSectionCircle
base Jacobian of root function for planar pairing ConeSection and Circle
Definition: jacpair_conesection_circle.h:32
MBSim::ContactKinematicsCircleFrustum::~ContactKinematicsCircleFrustum
~ContactKinematicsCircleFrustum() override
destructor
Definition: circle_frustum.cc:41
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::ContactKinematicsCircleFrustum::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: circle_frustum.cc:44
MBSim::ContactKinematicsCircleFrustum
contact kinematics for unilateral contact between circle and frustum with at most one contact point
Definition: circle_frustum.h:39
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::ContactKinematicsCircleFrustum::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: circle_frustum.cc:85
MBSim::ContactKinematicsCircleFrustum::icircle
int icircle
contour index
Definition: circle_frustum.h:67
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30