20 #ifndef CIRCLE_FRUSTUM_H_
21 #define CIRCLE_FRUSTUM_H_
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
57 virtual void updateg(
double& g, std::vector<ContourFrame*> &cFrame,
int index = 0);
58 virtual void updatewb(
fmatvec::Vec& wb,
double g, std::vector<ContourFrame*> &cFrame) {
throw MBSimError(
"(ContactKinematicsCircleFrustum::updatewb): not implemented!"); }
62 void setDebug(
bool DEBUG_);
63 void setWarnLevel(
int warnLevel_);
64 void setLocalSearch(
bool LOCALSEARCH_);
97 inline void ContactKinematicsCircleFrustum::setDebug(
bool DEBUG_) {
DEBUG=DEBUG_; }
98 inline void ContactKinematicsCircleFrustum::setWarnLevel(
int warnLevel_) {
warnLevel=warnLevel_; }
99 inline void ContactKinematicsCircleFrustum::setLocalSearch(
bool LOCALSEARCH_) {
LOCALSEARCH=LOCALSEARCH_; }
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
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