mbsim 4.0.0 MBSim Kernel

circle_spatialcontour.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_SPATIALCONTOUR_H_
21 #define _CONTACT_KINIMATICS_CIRCLE_SPATIALCONTOUR_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Circle;
28 class SpatialContour;
29 class FuncPairSpatialContourCircle;
30
34 class ContactKinematicsCircleSpatialContour : public ContactKinematics {
35 public:
36 ContactKinematicsCircleSpatialContour() = default;
37 ~ContactKinematicsCircleSpatialContour();
38
39 /* INHERITED INTERFACE */
40 void calcisSize() override { isSize = 2*maxNumContacts; }
41 void assignContours(const std::vector<Contour*> &contour) override;
42 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
43 void search() override;
44 void updateg(SingleContact &contact, int i=0) override;
45 /***************************************************/
46
47 private:
51 int icircle, ispatialcontour;
52
56 Circle *circle;
57 SpatialContour *spatialcontour;
58
62 MBSim::FuncPairSpatialContourCircle *func;
63 };
64
65 }
66
67 #endif /* _CONTACT_KINEMATICS_CIRCLESOLID_SPATIALCONTOUR_H_ */
MBSim::ContactKinematicsCircleSpatialContour::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: circle_spatialcontour.cc:75
MBSim::ContactKinematicsCircleSpatialContour::icircle
int icircle
contour index
Definition: circle_spatialcontour.h:51
MBSim::ContactKinematicsCircleSpatialContour::circle
Circle * circle
contour classes
Definition: circle_spatialcontour.h:56
MBSim::ContactKinematicsCircleSpatialContour::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: circle_spatialcontour.cc:38
MBSim::ContactKinematics::maxNumContacts
int maxNumContacts
maximum number of contacts
Definition: contact_kinematics.h:141
MBSim::ContactKinematicsCircleSpatialContour::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: circle_spatialcontour.cc:55
MBSim::SpatialContour
analytical description of contours with two contour parameters
Definition: spatial_contour.h:38
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
MBSim::ContactKinematicsCircleSpatialContour
pairing circle outer side to spatial contour
Definition: circle_spatialcontour.h:34
MBSim::ContactKinematicsCircleSpatialContour::func
MBSim::FuncPairSpatialContourCircle * func
root function
Definition: circle_spatialcontour.h:62
MBSim::FuncPairSpatialContourCircle
root function for pairing SpatialContour and Circle
Definition: funcpair_spatialcontour_circle.h:33
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