All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Pages
line_planarcontour.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2  *
3  * This library is free software; you can redistribute it and/or
4  * modify it under the terms of the GNU Lesser General Public
5  * License as published by the Free Software Foundation; either
6  * version 2.1 of the License, or (at your option) any later version.
7  *
8  * This library is distributed in the hope that it will be useful,
9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11  * Lesser General Public License for more details.
12  *
13  * You should have received a copy of the GNU Lesser General Public
14  * License along with this library; if not, write to the Free Software
15  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16  *
17  * Contact: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _CONTACT_KINEMATICS_LINE_PLANAR_CONTOUR_H_
21 #define _CONTACT_KINEMATICS_LINE_PLANAR_CONTOUR_H_
22 
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
25 
26 namespace MBSim {
27 
28  class Line;
29  class Contour;
30  class FuncPairPlanarContourLine;
31 
38  public:
43 
48 
49  /* INHERITED INTERFACE */
50  virtual void assignContours(const std::vector<Contour*> &contour);
51  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
52  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame) { throw MBSimError("(ContactKinematicsLinePlanarContour::updatewb): Not implemented!"); };
53  /***************************************************/
54 
55  private:
59  int iline, icontour;
60 
65  Contour *contour1s;
66 
71  };
72 
73 }
74 
75 #endif /* _CONTACT_KINEMATICS_LINE_CONTOUR1S_H_ */
76 
pairing Line to PlanarContour
Definition: line_planarcontour.h:37
root function for pairing PlanarContour and Line
Definition: funcpair_planarcontour_line.h:34
unbounded line with constant normal
Definition: line.h:35
virtual ~ContactKinematicsLinePlanarContour()
destructor
Definition: line_planarcontour.cc:30
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
int iline
contour index
Definition: line_planarcontour.h:52
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: line_planarcontour.cc:34
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: line_planarcontour.h:52
FuncPairPlanarContourLine * func
root function
Definition: line_planarcontour.h:70
Line * line
contour classes
Definition: line_planarcontour.h:64
virtual void updateg(double &g, std::vector< ContourFrame * > &cFrame, int index=0)
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
Definition: line_planarcontour.cc:50
ContactKinematicsLinePlanarContour()
constructor
Definition: line_planarcontour.h:42
basic error class for mbsim
Definition: mbsim_event.h:38
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39

Impressum / Disclaimer / Datenschutz Generated by doxygen 1.8.5 Valid HTML