mbsim 4.0.0 MBSim Kernel

plane_spatialcontour.h
1 /* Copyright (C) 2004-2018 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_PLANE_SPATIAL_CONTOUR_H_
21 #define _CONTACT_KINEMATICS_PLANE_SPATIAL_CONTOUR_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Plane;
28 class FuncPairSpatialContourPlane;
29
34 class ContactKinematicsPlaneSpatialContour : public ContactKinematics {
35 public:
39 ContactKinematicsPlaneSpatialContour() = default;
40
44 ~ContactKinematicsPlaneSpatialContour() override;
45
46 /* INHERITED INTERFACE */
47 void calcisSize() override { isSize = 2*maxNumContacts; }
48 void assignContours(const std::vector<Contour*> &contour) override;
49 void setInitialGuess(const fmatvec::MatV &zeta0_) override;
50 void search() override;
51 void updateg(SingleContact &contact, int i=0) override;
52 void updatewb(SingleContact &contact, int i=0) override;
53 /***************************************************/
54
55 private:
59 int iplane{0};
60 int ispatialcontour{0};
61
65 Plane *plane{nullptr};
66 Contour *spatialcontour{nullptr};
67
71 FuncPairSpatialContourPlane *func;
72 };
73
74 }
75
76 #endif
MBSim::ContactKinematicsPlaneSpatialContour::iplane
int iplane
contour index
Definition: plane_spatialcontour.h:59
MBSim::ContactKinematicsPlaneSpatialContour::plane
Plane * plane
contour classes
Definition: plane_spatialcontour.h:65
MBSim::ContactKinematicsPlaneSpatialContour::setInitialGuess
void setInitialGuess(const fmatvec::MatV &zeta0_) override
set initial guess for root-finding
Definition: plane_spatialcontour.cc:52
MBSim::Contour
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::ContactKinematicsPlaneSpatialContour::ContactKinematicsPlaneSpatialContour
ContactKinematicsPlaneSpatialContour()=default
constructor
MBSim::ContactKinematics::maxNumContacts
int maxNumContacts
maximum number of contacts
Definition: contact_kinematics.h:141
MBSim::ContactKinematicsPlaneSpatialContour::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: plane_spatialcontour.cc:36
MBSim::ContactKinematicsPlaneSpatialContour::~ContactKinematicsPlaneSpatialContour
~ContactKinematicsPlaneSpatialContour() override
destructor
Definition: plane_spatialcontour.cc:32
MBSim::ContactKinematicsPlaneSpatialContour
pairing plane to spatial contour
Definition: plane_spatialcontour.h:34
MBSim::Plane
plane without borders
Definition: plane.h:39
MBSim::ContactKinematicsPlaneSpatialContour::updatewb
void updatewb(SingleContact &contact, int i=0) override
compute contact kinematics on acceleration level for a single contact
Definition: plane_spatialcontour.cc:95
MBSim::ContactKinematicsPlaneSpatialContour::func
FuncPairSpatialContourPlane * func
root function
Definition: plane_spatialcontour.h:71
MBSim::FuncPairSpatialContourPlane
root function for pairing SpatialContour and Plane
Definition: funcpair_spatialcontour_plane.h:35
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::ContactKinematicsPlaneSpatialContour::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: plane_spatialcontour.cc:72
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30