20 #ifndef _CONTACT_KINEMATICS_CIRCLE_PLANAR_FRUSTUM_H_
21 #define _CONTACT_KINEMATICS_CIRCLE_PLANAR_FRUSTUM_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
42 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
43 virtual void updatewb(
fmatvec::Vec &wb,
double g, std::vector<ContourFrame*> &cFrame) {
throw MBSimError(
"(ContactKinematicsCirclePlanarFrustum:updatewb): Not implemented!"); }
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
planar slice of a frustum
Definition: planar_frustum.h:36
basic error class for mbsim
Definition: mbsim_event.h:38