20 #ifndef POINT_EXTRUSION_H_
21 #define POINT_EXTRUSION_H_
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
28 class FuncPairPlanarContourPoint;
47 virtual void assignContours(
const std::vector<MBSim::Contour*>& contour);
48 virtual void updateg(
double &g, std::vector<MBSim::ContourFrame*> &cFrame,
int index = 0);
49 virtual void updatewb(
fmatvec::Vec &wb,
double g, std::vector<MBSim::ContourFrame*> &cFrame);
52 void setSearchAllContactPoints(
bool searchAllCP_=
true) { searchAllCP = searchAllCP_; }
int ipoint
contour index
Definition: point_extrusion.h:58
virtual ~ContactKinematicsPointExtrusion()
destructor
Definition: point_extrusion.cc:33
root function for pairing PlanarContour and Point
Definition: funcpair_planarcontour_point.h:34
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::Point * point
contour classes
Definition: point_extrusion.h:63
pairing point to extrusion
Definition: point_extrusion.h:34
ContactKinematicsPointExtrusion()
constructor
Definition: point_extrusion.h:39
most primitive contour: the point (no extention)
Definition: point.h:35