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MBSim::ContactKinematicsSpherePolynomialFrustum Class Reference

class for contact kinematics between convex frustum and a sphere More...

#include <sphere_polynomialfrustum.h>

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

Public Member Functions

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...
 
- 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
 
virtual void setSearchAllContactPoints (bool searchAllCP_=true)
 
virtual void setInitialGuess (const fmatvec::VecV &zeta0_)
 
- 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)
 

Protected Attributes

int isphere
 contour index of sphere (in cpData)
 
int ifrustum
 contour index of frustum (in cpData)
 
Spheresphere
 pointer to the contour class for the sphere
 
PolynomialFrustumfrustum
 pointer to the contour class for the polynomial frustum
 
MBSim::MultiDimensionalNewtonMethod newton
 Newton solver for nonlinear problem.
 
PolyFurstumSphereContactfunc
 
PolyFurstumSphereContactJacobianjacobian
 jacobian function for solution
 
GlobalResidualCriteriaFunctioncriteria
 residual function for newton
 
MBSim::StandardDampingFunctiondamping
 damping function for newton
 
fmatvec::Vec x
 solution vector of nonlinear system
 
- Protected Attributes inherited from MBSim::ContactKinematics
int numberOfPotentialContactPoints
 number of potential contact points
 

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)
 

Detailed Description

class for contact kinematics between convex frustum and a sphere

Author
Kilian Grundl
Date
02.05.2013

Member Function Documentation

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

treats ordering of contours

Parameters
contourvector

Implements MBSim::ContactKinematics.

void MBSim::ContactKinematicsSpherePolynomialFrustum::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.

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

compute acceleration in terms of contour parameters for event driven integration

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

Implements MBSim::ContactKinematics.


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

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