20 #ifndef _CONTACT_KINEMATICS_CIRCLE_PLANE_H_
21 #define _CONTACT_KINIMATICS_CIRCLE_PLANE_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
40 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
41 virtual void updatewb(
fmatvec::Vec &wb,
double g, std::vector<ContourFrame*> &cFrame) {
throw MBSimError(
"(ContactKinematicsCirclePlane::updatewb): Not implemented!"); };
plane without borders
Definition: plane.h:38
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
basic error class for mbsim
Definition: mbsim_event.h:38