20 #ifndef _CONTACT_KINEMATICS_POINT_CONTOURINTERPOLATION_H_
21 #define _CONTACT_KINEMATICS_POINT_CONTOURINTERPOLATION_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
29 class ContourInterpolation;
30 class FuncPairPointContourInterpolation;
47 virtual void updateg(
double &g, std::vector<ContourFrame*> &cFrame,
int index = 0);
48 virtual void updatewb(
fmatvec::Vec &wb,
double g, std::vector<ContourFrame*> &cFrame) {
throw MBSimError(
"(ContactKinematicsPointContourInterpolation::updatewb): Not implemented!"); };
Basis-Class for Contour interpolation between Point s, standard contact Point-ContourInterpolation is...
Definition: contour_interpolation.h:35
root function for pairing ContourInterpolation and Point
Definition: funcpair_point_contourinterpolation.h:35
basic error class for mbsim
Definition: mbsim_event.h:38
most primitive contour: the point (no extention)
Definition: point.h:35