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compoundcontour_compoundcontour.h
1 /* Copyright (C) 2004-2009 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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7  *
8  * This library is distributed in the hope that it will be useful,
9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 _CONTACT_KINEMATICS_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_
21 #define _CONTACT_KINEMATICS_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_
22 
23 #include "contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class CompoundContour;
28  class Contour;
29 
36  public:
37  /* INHERITED INTERFACE */
38  virtual void assignContours(const std::vector<Contour*> &contour);
39 
40  void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0) { }
41  void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame) { }
42 
43  ContactKinematics* getContactKinematics(int i=0) const { return contactKinematics[i]; }
44  /***************************************************/
45 
46  private:
51  CompoundContour *contour1;
52 
56  std::vector<ContactKinematics*> contactKinematics;
57  };
58 
59 }
60 
61 #endif /* _CONTACT_KINEMATICS_COMPOUNDCONTOUR_COMPOUNDCONTOUR_H_ */
62 
contour consisting of primitive contour elements
Definition: compound_contour.h:34
contact paring between set of contours and set of contours
Definition: compoundcontour_compoundcontour.h:35
CompoundContour * contour0
contour classes
Definition: compoundcontour_compoundcontour.h:50
void updateg(double &g, std::vector< ContourFrame * > &cFrame, int index=0)
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
Definition: compoundcontour_compoundcontour.h:40
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: compoundcontour_compoundcontour.cc:30
std::vector< ContactKinematics * > contactKinematics
contact kinematics possibilities between compound contours
Definition: compoundcontour_compoundcontour.h:56
void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: compoundcontour_compoundcontour.h:41
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39

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