All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Pages
circle_frustum.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 CIRCLE_FRUSTUM_H_
21 #define CIRCLE_FRUSTUM_H_
22 
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
25 
26 namespace MBSim {
27 
28  class Circle;
29  class Frustum;
30 
41  public:
49 
54 
55  /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
56  void assignContours(const std::vector<Contour*> &contour);
57  virtual void updateg(double& g, std::vector<ContourFrame*> &cFrame, int index = 0);
58  virtual void updatewb(fmatvec::Vec& wb, double g, std::vector<ContourFrame*> &cFrame) { throw MBSimError("(ContactKinematicsCircleFrustum::updatewb): not implemented!"); }
59  /***************************************************/
60 
61  /* GETTER / SETTER */
62  void setDebug(bool DEBUG_);
63  void setWarnLevel(int warnLevel_);
64  void setLocalSearch(bool LOCALSEARCH_);
65  /***************************************************/
66 
67  protected:
71  int icircle, ifrustum;
72 
77  Circle *circle;
78 
82  bool DEBUG;
83 
87  int warnLevel;
88 
93 
94  fmatvec::Vec2 zeta;
95  };
96 
97  inline void ContactKinematicsCircleFrustum::setDebug(bool DEBUG_) { DEBUG=DEBUG_; }
98  inline void ContactKinematicsCircleFrustum::setWarnLevel(int warnLevel_) { warnLevel=warnLevel_; }
99  inline void ContactKinematicsCircleFrustum::setLocalSearch(bool LOCALSEARCH_) { LOCALSEARCH=LOCALSEARCH_; }
100 
101 }
102 
103 #endif /* CIRCLE_FRUSTUM_H_ */
104 
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
bool LOCALSEARCH
local contact search?
Definition: circle_frustum.h:92
Frustum * frustum
contour classes
Definition: circle_frustum.h:76
ContactKinematicsCircleFrustum()
constructor no debugging no warnings global search
Definition: circle_frustum.cc:37
int warnLevel
warnings during calculation?
Definition: circle_frustum.h:87
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
virtual ~ContactKinematicsCircleFrustum()
destructor
Definition: circle_frustum.cc:41
bool DEBUG
debug information during calculation?
Definition: circle_frustum.h:82
contact kinematics for unilateral contact between circle and frustum with at most one contact point ...
Definition: circle_frustum.h:40
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: circle_frustum.cc:59
void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: circle_frustum.cc:44
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: circle_frustum.h:58
basic error class for mbsim
Definition: mbsim_event.h:38
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
int icircle
contour index
Definition: circle_frustum.h:71

Impressum / Disclaimer / Datenschutz Generated by doxygen 1.8.5 Valid HTML