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MBSim::ContactKinematicsCircleFrustum Class Reference

contact kinematics for unilateral contact between circle and frustum with at most one contact point More...

#include <circle_frustum.h>

Inheritance diagram for MBSim::ContactKinematicsCircleFrustum:
MBSim::ContactKinematics fmatvec::Atom

Public Member Functions

 ContactKinematicsCircleFrustum ()
 constructor no debugging no warnings global search
 
virtual ~ContactKinematicsCircleFrustum ()
 destructor
 
void assignContours (const std::vector< Contour * > &contour)
 treats ordering of contours More...
 
virtual void updateg (double &g, std::vector< ContourFrame * > &cFrame, int index=0)
 compute normal distance, possible contact point positions and orientation (cf. contact.cc) More...
 
virtual void updatewb (fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
 compute acceleration in terms of contour parameters for event driven integration More...
 
void setDebug (bool DEBUG_)
 
void setWarnLevel (int warnLevel_)
 
void setLocalSearch (bool LOCALSEARCH_)
 
- Public Member Functions inherited from MBSim::ContactKinematics
 ContactKinematics ()
 constructor
 
virtual ~ContactKinematics ()
 destructor
 
void assignContours (Contour *contour1, Contour *contour2)
 treats ordering of contours More...
 
int getNumberOfPotentialContactPoints () const
 
virtual ContactKinematicsgetContactKinematics (int i=0) const
 
virtual void setSearchAllContactPoints (bool searchAllCP_=true)
 
virtual void setInitialGuess (const fmatvec::VecV &zeta0_)
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Protected Attributes

int icircle
 contour index
 
int ifrustum
 
Frustumfrustum
 contour classes
 
Circlecircle
 
bool DEBUG
 debug information during calculation?
 
int warnLevel
 warnings during calculation?
 
bool LOCALSEARCH
 local contact search?
 
fmatvec::Vec2 zeta
 
- Protected Attributes inherited from MBSim::ContactKinematics
int numberOfPotentialContactPoints
 number of potential contact points
 

Additional Inherited Members

- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const std::shared_ptr< bool > &a=std::make_shared< bool >(true), const std::shared_ptr< std::ostream > &s=std::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Detailed Description

contact kinematics for unilateral contact between circle and frustum with at most one contact point

Author
Thorsten Schindler
Bastian Esefeld
Date
2009-07-13 initial commit kernel_dev
2009-09-02 performance improvement

background: "Spatial Dynamics of Pushbelt CVTs" (Schindler 2010 p.34 ff)

Member Function Documentation

void MBSim::ContactKinematicsCircleFrustum::assignContours ( const std::vector< Contour * > &  contour)
virtual

treats ordering of contours

Parameters
contourvector

Implements MBSim::ContactKinematics.

void MBSim::ContactKinematicsCircleFrustum::updateg ( double &  g,
std::vector< ContourFrame * > &  cFrame,
int  index = 0 
)
virtual

compute normal distance, possible contact point positions and orientation (cf. contact.cc)

Parameters
ttime
gnormal distance
cFramecontour point Frame
indexindex of the contact point that should be updated

Implements MBSim::ContactKinematics.

virtual void MBSim::ContactKinematicsCircleFrustum::updatewb ( fmatvec::Vec wb,
double  g,
std::vector< ContourFrame * > &  cFrame 
)
inlinevirtual

compute acceleration in terms of contour parameters for event driven integration

Parameters
ttime
wbacceleration in terms of contour parameters
gnormal distance
cFramecontact point parametrisation

Implements MBSim::ContactKinematics.


The documentation for this class was generated from the following files:

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