20 #ifndef _PLANEWITHFRUSTUM_H_
21 #define _PLANEWITHFRUSTUM_H_
23 #include "mbsim/contours/rigid_contour.h"
47 PlaneWithFrustum(
const std::string &
name,
double rFrustumOnPlane_,
double rFrustumOnTop_,
double hFrustum_,
double rho_,
Frame *
R=0) :
RigidContour(name,
R), rFrustumOnPlane(rFrustumOnPlane_), rFrustumOnTop(rFrustumOnTop_), hFrustum(hFrustum_), rho(rho_) {
52 std::string
getType()
const {
return "PlaneWithFrustum"; }
56 double getFrustumRadiusOnPlane() {
return rFrustumOnPlane; }
57 double getFrustumRadiusOnTop() {
return rFrustumOnTop; }
58 double getFrustumHeight() {
return hFrustum; }
59 double getRoundingRadius() {
return rho; }
64 virtual void initializeUsingXML(xercesc::DOMElement *element);
67 double rFrustumOnPlane;
73 assert(rFrustumOnTop<rFrustumOnPlane);
74 assert(rFrustumOnTop>1e-6);
76 assert(rho<fabs(hFrustum));
77 assert(rho<rFrustumOnTop);
std::string getType() const
Definition: planewithfrustum.h:52
basic class for rigid contours
Definition: rigid_contour.h:37
PlaneWithFrustum(const std::string &name="", Frame *R=0)
constructor
Definition: planewithfrustum.h:44
plane without borders and a frustum on reference kos
Definition: planewithfrustum.h:34
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
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88