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MBSim::ContactKinematicsPointSpatialContour Class Reference

pairing point to spatial contour More...

#include <point_spatialcontour.h>

Inheritance diagram for MBSim::ContactKinematicsPointSpatialContour:
MBSim::ContactKinematics fmatvec::Atom

Public Member Functions

 ContactKinematicsPointSpatialContour ()
 constructor
 
virtual ~ContactKinematicsPointSpatialContour ()
 destructor
 
virtual void assignContours (const std::vector< Contour * > &contour)
 treats ordering of contours More...
 
virtual void updateg (double &g, std::vector< ContourFrame * > &cFrame, int index=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)
 compute acceleration in terms of contour parameters for event driven integration More...
 
void setSearchAllContactPoints (bool searchAllCP_=true)
 
void setInitialGuess (const fmatvec::VecV &zeta0_)
 
- Public Member Functions inherited from MBSim::ContactKinematics
 ContactKinematics ()
 constructor
 
virtual ~ContactKinematics ()
 destructor
 
void assignContours (Contour *contour1, Contour *contour2)
 treats ordering of contours More...
 
int getNumberOfPotentialContactPoints () const
 
virtual ContactKinematicsgetContactKinematics (int i=0) const
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (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)
 

Private Attributes

int ipoint
 contour index
 
int ispatialcontour
 
Pointpoint
 contour classes
 
Contourspatialcontour
 
MBSim::FuncPairSpatialContourPointfunc
 root function
 
bool searchAllCP
 
fmatvec::VecV zeta0
 

Additional Inherited Members

- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from fmatvec::Atom
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)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 
- Protected Attributes inherited from MBSim::ContactKinematics
int numberOfPotentialContactPoints
 number of potential contact points
 

Detailed Description

pairing point to spatial contour

Author
: Martin Foerg

Member Function Documentation

void MBSim::ContactKinematicsPointSpatialContour::assignContours ( const std::vector< Contour * > &  contour)
virtual

treats ordering of contours

Parameters
contourvector

Implements MBSim::ContactKinematics.

void MBSim::ContactKinematicsPointSpatialContour::updateg ( double &  g,
std::vector< ContourFrame * > &  cFrame,
int  index = 0 
)
virtual

compute normal distance, possible contact point positions and orientation (cf. contact.cc)

Parameters
ttime
gnormal distance
cFramecontour point Frame
indexindex of the contact point that should be updated

Implements MBSim::ContactKinematics.

void MBSim::ContactKinematicsPointSpatialContour::updatewb ( fmatvec::Vec wb,
double  g,
std::vector< ContourFrame * > &  cFrame 
)
virtual

compute acceleration in terms of contour parameters for event driven integration

Parameters
ttime
wbacceleration in terms of contour parameters
gnormal distance
cFramecontact point parametrisation

-n1.T()*tOm1*R1

-u1.T()*tOm1*R1

-v1.T()*tOm1*R1

Implements MBSim::ContactKinematics.


The documentation for this class was generated from the following files:

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