contact kinematics for unilateral contact between circle and frustum with at most one contact point More...
#include <circle_frustum.h>
Public Member Functions | |
ContactKinematicsCircleFrustum () | |
constructor no debugging no warnings global search | |
virtual | ~ContactKinematicsCircleFrustum () |
destructor | |
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... | |
void | setDebug (bool DEBUG_) |
void | setWarnLevel (int warnLevel_) |
void | setLocalSearch (bool LOCALSEARCH_) |
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ContactKinematics () | |
constructor | |
virtual | ~ContactKinematics () |
destructor | |
void | assignContours (Contour *contour1, Contour *contour2) |
treats ordering of contours More... | |
int | getNumberOfPotentialContactPoints () const |
virtual ContactKinematics * | getContactKinematics (int i=0) const |
virtual void | setSearchAllContactPoints (bool searchAllCP_=true) |
virtual void | setInitialGuess (const fmatvec::VecV &zeta0_) |
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Atom & | operator= (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 | icircle |
contour index | |
int | ifrustum |
Frustum * | frustum |
contour classes | |
Circle * | circle |
bool | DEBUG |
debug information during calculation? | |
int | warnLevel |
warnings during calculation? | |
bool | LOCALSEARCH |
local contact search? | |
fmatvec::Vec2 | zeta |
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int | numberOfPotentialContactPoints |
number of potential contact points | |
Additional Inherited Members | |
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enum | MsgType |
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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) |
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Atom (const Atom &src) | |
contact kinematics for unilateral contact between circle and frustum with at most one contact point
background: "Spatial Dynamics of Pushbelt CVTs" (Schindler 2010 p.34 ff)
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virtual |
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virtual |
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
t | time |
g | normal distance |
cFrame | contour point Frame |
index | index of the contact point that should be updated |
Implements MBSim::ContactKinematics.
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inlinevirtual |
compute acceleration in terms of contour parameters for event driven integration
t | time |
wb | acceleration in terms of contour parameters |
g | normal distance |
cFrame | contact point parametrisation |
Implements MBSim::ContactKinematics.