20 #ifndef POINT_POLYNOMIALFRUSTUM_H_
21 #define POINT_POLYNOMIALFRUSTUM_H_
23 #include "contact_kinematics.h"
25 #include <mbsim/contours/polynomial_frustum.h>
26 #include <mbsim/contours/point.h>
27 #include <mbsim/numerics/nonlinear_algebra/multi_dimensional_newton_method.h>
40 void setUpSystemParamters(
const fmatvec::Vec3 &
referencePoint,
const double &
phi);
70 void setUpSystemParamters(
const fmatvec::Vec3 &
referencePoint,
const double &
phi);
105 virtual void updateg(
double& g, std::vector<ContourFrame*> &cFrame,
int index = 0);
107 throw MBSimError(
"(ContactKinematicsPointPolynomialFrustum::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
fmatvec::Vec3 referencePoint
point that should be projected
Definition: point_polynomialfrustum.h:53
base class for square Jacobians used for the newton method
Definition: newton_method_jacobian_functions.h:31
fmatvec::Vec3 referencePoint
point that should be projected
Definition: point_polynomialfrustum.h:83
Frustum contour with a polynomial radius over height course.
Definition: polynomial_frustum.h:38
PolynomialFrustum * frustum
constant pointer to the frustum
Definition: point_polynomialfrustum.h:78
function that is zero for a height-coordinate of the polynomial frustum on which the normal on that p...
Definition: point_polynomialfrustum.h:34
the Jacobian function for the projectAlongNormal Function
Definition: point_polynomialfrustum.h:64
Definition: planar_contour.h:31
PolynomialFrustum * frustum
constant pointer to the frustum
Definition: point_polynomialfrustum.h:48
basic error class for mbsim
Definition: mbsim_event.h:38
Definition: damping_functions.h:64
most primitive contour: the point (no extention)
Definition: point.h:35
double phi
azimuathal position where it all happens
Definition: point_polynomialfrustum.h:88
double phi
azimuathal position where it all happens
Definition: point_polynomialfrustum.h:58