basic class for contact kinematical calculations More...
#include <contact_kinematics.h>
Public Member Functions | |
ContactKinematics () | |
constructor | |
virtual | ~ContactKinematics () |
destructor | |
virtual void | assignContours (const std::vector< Contour * > &contour)=0 |
treats ordering of contours More... | |
virtual void | updateg (double &g, std::vector< ContourFrame * > &cFrame, int index=0)=0 |
compute normal distance, possible contact point positions and orientation (cf. contact.cc) More... | |
virtual void | updatewb (fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)=0 |
compute acceleration in terms of contour parameters for event driven integration More... | |
void | assignContours (Contour *contour1, Contour *contour2) |
treats ordering of contours More... | |
int | getNumberOfPotentialContactPoints () const |
virtual ContactKinematics * | getContactKinematics (int i=0) const |
virtual void | setSearchAllContactPoints (bool searchAllCP_=true) |
virtual void | setInitialGuess (const fmatvec::VecV &zeta0_) |
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Atom & | operator= (const Atom &) |
void | setMessageStreamActive (MsgType type, bool active) |
void | getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s) |
void | adoptMessageStreams (const Atom *src=NULL) |
std::ostream & | msg (MsgType type) |
bool | msgAct (MsgType type) |
Protected Attributes | |
int | numberOfPotentialContactPoints |
number of potential contact points | |
Additional Inherited Members | |
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enum | MsgType |
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static void | setCurrentMessageStream (MsgType type, const std::shared_ptr< bool > &a=std::make_shared< bool >(true), const std::shared_ptr< std::ostream > &s=std::make_shared< std::ostream >(std::cout.rdbuf())) |
static std::ostream & | msgStatic (MsgType type) |
static bool | msgActStatic (MsgType type) |
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Atom (const Atom &src) | |
basic class for contact kinematical calculations
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pure virtual |
treats ordering of contours
contour | vector |
Implemented in MBSim::ContactKinematicsPlatePolynomialFrustum, MBSim::ContactKinematicsSpherePolynomialFrustum, MBSim::ContactKinematicsPointPolynomialFrustum, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointContourInterpolation, MBSim::ContactKinematicsPointFrustum, MBSim::ContactKinematicsCirclePlanarFrustum, MBSim::ContactKinematicsPointPlaneWithFrustum, MBSim::ContactKinematicsSphereFrustum, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsPointPlate, MBSim::ContactKinematicsSpherePlate, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsEdgeEdge, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsSpherePlane, MBSim::ContactKinematicsSphereSphere, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsCompoundContourCompoundContour, MBSim::ContactKinematicsCompoundContourContour, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointPlane, and MBSim::ContactKinematicsPointSphere.
treats ordering of contours
first | contour |
second | contour |
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inline |
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pure virtual |
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
t | time |
g | normal distance |
cFrame | contour point Frame |
index | index of the contact point that should be updated |
Implemented in MBSim::ContactKinematicsPlatePolynomialFrustum, MBSim::ContactKinematicsSpherePolynomialFrustum, MBSim::ContactKinematicsPointPolynomialFrustum, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointContourInterpolation, MBSim::ContactKinematicsPointFrustum, MBSim::ContactKinematicsCirclePlanarFrustum, MBSim::ContactKinematicsPointPlaneWithFrustum, MBSim::ContactKinematicsSphereFrustum, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsPointPlate, MBSim::ContactKinematicsSpherePlate, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsCompoundContourCompoundContour, MBSim::ContactKinematicsCompoundContourContour, MBSim::ContactKinematicsEdgeEdge, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsSpherePlane, MBSim::ContactKinematicsSphereSphere, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointPlane, and MBSim::ContactKinematicsPointSphere.
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pure virtual |
compute acceleration in terms of contour parameters for event driven integration
t | time |
wb | acceleration in terms of contour parameters |
g | normal distance |
cFrame | contact point parametrisation |
Implemented in MBSim::ContactKinematicsPlatePolynomialFrustum, MBSim::ContactKinematicsSpherePolynomialFrustum, MBSim::ContactKinematicsPointPolynomialFrustum, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointContourInterpolation, MBSim::ContactKinematicsPointFrustum, MBSim::ContactKinematicsCirclePlanarFrustum, MBSim::ContactKinematicsPointPlaneWithFrustum, MBSim::ContactKinematicsSphereFrustum, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsPointPlate, MBSim::ContactKinematicsSpherePlate, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsCompoundContourCompoundContour, MBSim::ContactKinematicsCompoundContourContour, MBSim::ContactKinematicsEdgeEdge, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsSpherePlane, MBSim::ContactKinematicsSphereSphere, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointPlane, and MBSim::ContactKinematicsPointSphere.