20 #ifndef SPHERE_POLYNOMIALFRUSTUM_H_
21 #define SPHERE_POLYNOMIALFRUSTUM_H_
23 #include "contact_kinematics.h"
25 #include <mbsim/contours/polynomial_frustum.h>
26 #include <mbsim/contours/sphere.h>
27 #include <mbsim/numerics/nonlinear_algebra/multi_dimensional_newton_method.h>
39 void setCenter(
const fmatvec::Vec3 & sphereCenter_) {
71 void setCenter(
const fmatvec::Vec3 & sphereCenter_) {
107 virtual void updateg(
double& g, std::vector<ContourFrame*> &cFrame,
int index = 0);
109 throw MBSimError(
"(ContactKinematicsAreaPolynomialFrustum::updatewb): not implemented!");
This criteria function class applies the infinity norm globally on the complete vector and compares i...
Definition: criteria_functions.h:170
Newton method for multidimensional root finding.
Definition: multi_dimensional_newton_method.h:41
base class for square Jacobians used for the newton method
Definition: newton_method_jacobian_functions.h:31
sphere
Definition: sphere.h:36
Frustum contour with a polynomial radius over height course.
Definition: polynomial_frustum.h:38
Definition: planar_contour.h:31
basic error class for mbsim
Definition: mbsim_event.h:38
Definition: damping_functions.h:64