mbsim 4.0.0 MBSim Kernel

circle_planarfrustum.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_CIRCLE_PLANAR_FRUSTUM_H_
21 #define _CONTACT_KINEMATICS_CIRCLE_PLANAR_FRUSTUM_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Circle;
28 class PlanarFrustum;
29
34 class ContactKinematicsCirclePlanarFrustum : public ContactKinematics {
35 public:
36 /* INHERITED INTERFACE */
37 void assignContours(const std::vector<Contour*> &contour) override;
38 void updateg(SingleContact &contact, int i=0) override;
39 /***************************************************/
40
41 private:
45 int icircle, ifrustum;
46
50 Circle *circle;
51 PlanarFrustum *frustum;
52
53 };
54
55 }
56
57 #endif
MBSim::ContactKinematicsCirclePlanarFrustum::icircle
int icircle
contour index
Definition: circle_planarfrustum.h:45
MBSim::ContactKinematicsCirclePlanarFrustum::circle
Circle * circle
contour classes
Definition: circle_planarfrustum.h:50
MBSim::ContactKinematicsCirclePlanarFrustum::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: circle_planarfrustum.cc:46
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::ContactKinematicsCirclePlanarFrustum
pairing circle outer side to planar frustum
Definition: circle_planarfrustum.h:34
MBSim::PlanarFrustum
planar slice of a frustum
Definition: planar_frustum.h:36
MBSim::ContactKinematicsCirclePlanarFrustum::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: circle_planarfrustum.cc:32
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30