20 #ifndef _CONTACT_KINEMATICS_LINE_PLANAR_CONTOUR_H_
21 #define _CONTACT_KINEMATICS_LINE_PLANAR_CONTOUR_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
30 class FuncPairPlanarContourLine;
51 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
52 virtual void updatewb(
fmatvec::Vec &wb,
double g, std::vector<ContourFrame*> &cFrame) {
throw MBSimError(
"(ContactKinematicsLinePlanarContour::updatewb): Not implemented!"); };
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
basic error class for mbsim
Definition: mbsim_event.h:38