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funcpair_planarcontour_line.h
1 /* Copyright (C) 2004-2010 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
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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
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17  * Contact: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _FUNCPAIR_PLANARCONTOUR_LINE_H_
21 #define _FUNCPAIR_PLANARCONTOUR_LINE_H_
22 
23 #include <mbsim/functions/contact/distance_function.h>
24 
25 namespace MBSim {
26 
27  class Contour;
28  class Line;
29 
34  class FuncPairPlanarContourLine : public DistanceFunction<double(double)> {
35  public:
39  FuncPairPlanarContourLine(Line* line_, Contour *contour_) : contour(contour_), line(line_) { }
40 
41  /* INHERITED INTERFACE OF DISTANCEFUNCTION */
42  virtual double operator()(const double &s) {
43  THROW_MBSIMERROR("(FuncPairPlanarContourLine::operator): Not implemented!");
44  //fmatvec::Vec WtC = (contour->computeWt(s)).col(0);
45  //fmatvec::Vec WnL = line->computeWn();
46  //return trans(WtC)*WnL;
47  }
48 
49  virtual fmatvec::Vec3 evalWrD(const double &s) {
50  THROW_MBSIMERROR("(FuncPairPlanarContourLine::evalWrD): Not implemented!");
51  //fmatvec::Vec WrOCContour = contour->getWrOC(s);
52  //fmatvec::Vec Wn = contour->computeWn(s);
53  //double g =trans(Wn)*(WrOCContour-line->getFrame()->getPosition());
54  //return Wn*g;
55  }
56 
57  virtual double operator[](const double &s) { return nrm2(evalWrD(s)); }
58 
59  private:
60  Contour *contour;
61  Line *line;
62  };
63 
64 }
65 
66 #endif
Definition: distance_function.h:27
double nrm2(const Vector< Ref, double > &x)
root function for pairing PlanarContour and Line
Definition: funcpair_planarcontour_line.h:34
unbounded line with constant normal
Definition: line.h:35
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
FuncPairPlanarContourLine(Line *line_, Contour *contour_)
constructor
Definition: funcpair_planarcontour_line.h:39

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