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point_planarcontour.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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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_POINT_PLANAR_CONTOUR_H_
21 #define _CONTACT_KINEMATICS_POINT_PLANAR_CONTOUR_H_
22 
23 #include "contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class Point;
28  class FuncPairPlanarContourPoint;
29 
35  public:
39  ContactKinematicsPointPlanarContour() : ContactKinematics(), ipoint(0), iplanarcontour(0), point(0), planarcontour(0), searchAllCP(false) { }
40 
45 
46  /* INHERITED INTERFACE */
47  virtual void assignContours(const std::vector<Contour*> &contour);
48  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
49  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame);
50  /***************************************************/
51 
52  void setSearchAllContactPoints(bool searchAllCP_=true) { searchAllCP = searchAllCP_; }
53 
54  private:
58  int ipoint, iplanarcontour;
59 
64  Contour *planarcontour;
65 
70 
71  bool searchAllCP;
72  };
73 
74 }
75 
76 #endif
pairing point to planar contour
Definition: point_planarcontour.h:34
FuncPairPlanarContourPoint * func
root function
Definition: point_planarcontour.h:69
virtual ~ContactKinematicsPointPlanarContour()
destructor
Definition: point_planarcontour.cc:32
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: point_planarcontour.cc:36
virtual void updateg(double &g, std::vector< ContourFrame * > &cFrame, int index=0)
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
Definition: point_planarcontour.cc:52
root function for pairing PlanarContour and Point
Definition: funcpair_planarcontour_point.h:34
int ipoint
contour index
Definition: point_planarcontour.h:58
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
ContactKinematicsPointPlanarContour()
constructor
Definition: point_planarcontour.h:39
Point * point
contour classes
Definition: point_planarcontour.h:63
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
most primitive contour: the point (no extention)
Definition: point.h:35
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: point_planarcontour.cc:82

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