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planar_contour.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
16  *
17  * Contact: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _PLANAR_CONTOUR_H_
21 #define _PLANAR_CONTOUR_H_
22 
23 #include "mbsim/contours/rigid_contour.h"
24 
25 #include "mbsim/utils/boost_parameters.h"
26 #include <mbsim/utils/openmbv_utils.h>
27 
28 namespace MBSim {
29 
30  class ContactKinematics;
31  template <class Sig> class Function;
32 
39  class PlanarContour : public RigidContour {
40  public:
45  PlanarContour(const std::string &name="", Frame *R=NULL) : RigidContour(name,R), funcCrPC(NULL), open(false) { }
46 
50  virtual ~PlanarContour();
51 
52  /* INHERITED INTERFACE OF ELEMENT */
53  std::string getType() const { return "PlanarContour"; }
54  /***************************************************/
55 
56  /* INHERITED INTERFACE OF CONTOUR */
57  void init(InitStage stage);
58  double getCurvature(const fmatvec::Vec2 &zeta);
59  fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta);
60  fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta);
61  fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta);
62  fmatvec::Vec3 evalParDer1Ks(const fmatvec::Vec2 &zeta);
63  /***************************************************/
64 
65  /* GETTER / SETTER */
66  void setContourFunction(Function<fmatvec::Vec3(double)> *f);
67  Function<fmatvec::Vec3(double)>* getContourFunction() { return funcCrPC; }
68  /***************************************************/
69 
70  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (nodes,(const std::vector<double>&),std::vector<double>())(diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
71  OpenMBVExtrusion ombv(1,diffuseColor,transparency);
72  openMBVRigidBody=ombv.createOpenMBV();
73  ombvNodes = nodes;
74  }
75 
76  virtual void initializeUsingXML(xercesc::DOMElement *element);
77 
78  void setNodes(const std::vector<double> &nodes_) { etaNodes = nodes_; }
79 
80  virtual bool isZetaOutside(const fmatvec::Vec2 &zeta) { return open and (zeta(0) < etaNodes[0] or zeta(0) > etaNodes[etaNodes.size()-1]); }
81 
82  void setOpen(bool open_=true) { open = open_; }
83 
84  protected:
85  Function<fmatvec::Vec3(double)> * funcCrPC;
86  bool open;
87 
88  std::vector<double> ombvNodes;
89  };
90 
91 }
92 
93 #endif
94 
basic class for rigid contours
Definition: rigid_contour.h:37
PlanarContour(const std::string &name="", Frame *R=NULL)
constructor
Definition: planar_contour.h:45
std::string getType() const
Definition: planar_contour.h:53
InitStage
The stages of the initialization.
Definition: element.h:97
virtual ~PlanarContour()
destructor
Definition: planar_contour.cc:34
Definition: planar_contour.h:31
std::string name
name of element
Definition: element.h:298
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
void init(InitStage stage)
plots time series header
Definition: planar_contour.cc:57
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88
analytical description of contours with one contour parameter
Definition: planar_contour.h:39

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