MBSim::ContactKinematics Class Reference

basic class for contact kinematical calculations More...

#include <contact_kinematics.h>

Inheritance diagram for MBSim::ContactKinematics:

Public Member Functions
	ContactKinematics (int maxNumContacts_=1)
	constructor
	~ContactKinematics () override=default
	destructor
virtual void	assignContours (const std::vector< Contour * > &contour_)
	treats ordering of contours More...
virtual void	calcisSize ()
void	setisInd (int ind)
int	getisSize ()
virtual void	updateInternalStateRef (fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent)
virtual void	search ()
virtual void	updateg (std::vector< SingleContact > &contact)
	compute contact kinematics for all contacts More...
virtual void	updateg (SingleContact &contact, int i=0)
	compute contact kinematics for a single contact More...
virtual void	updatewb (std::vector< SingleContact > &contact)
	compute contact kinematics on acceleration level for all contacts More...
virtual void	updatewb (SingleContact &contact, int i=0)
	compute contact kinematics on acceleration level for a single contact More...
void	assignContours (Contour *contour1, Contour *contour2)
	treats ordering of contours More...
int	getMaximumNumberOfContacts () const
void	setGlobalSearch (bool gS_=true)
void	setInitialGlobalSearch (bool iGS_=true)
virtual void	setInitialGuess (const fmatvec::MatV &zeta0_)
	set initial guess for root-finding More...
void	setTolerance (double tol_)
	set tolerance for root-finding
void	setMaximumNumberOfContacts (int maxNumContacts_)
	set maximum number of contacts

Static Public Member Functions
static std::vector< double >	searchPossibleContactPoints (Function< double(double)> *func, double eta, const std::vector< double > &nodes, double tol)
static std::vector< double >	searchPossibleContactPoints (Function< fmatvec::Vec(fmatvec::Vec)> *func, int i, fmatvec::Vec &zeta, const std::vector< double > &nodes, double tol)

Protected Attributes
double	tol {1e-10}
	tolerance for root-finding
int	maxNumContacts {1}
	maximum number of contacts
fmatvec::Vec	curis
fmatvec::Vec	nextis
int	isInd { 0 }
int	isSize { 0 }
std::vector< Contour * >	contour
bool	gS {false}
bool	iGS {false}

Detailed Description

basic class for contact kinematical calculations

Author

Martin Foerg

Date

2009-03-18 some comments (Thorsten Schindler)

2009-04-02 velocity part deleted (Thorsten Schindler)

2009-07-28 updates are pure virtual (Thorsten Schindler)

Member Function Documentation

assignContours() [1/2]

virtual void MBSim::ContactKinematics::assignContours ( const std::vector< Contour * > &  contour_ )

inlinevirtual

treats ordering of contours

Parameters

contour

vector

Reimplemented in MBSim::ContactKinematicsBevelGearBevelGear, MBSim::ContactKinematicsBevelGearPlanarGear, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsCirclePlanarFrustum, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsCircleSpatialContour, MBSim::ContactKinematicsCompoundContourCompoundContour, MBSim::ContactKinematicsCylindricalGearCylindricalGear, MBSim::ContactKinematicsCylindricalGearRack, MBSim::ContactKinematicsEdgeEdge, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsPlanarContourPlanarContour, MBSim::ContactKinematicsPlaneSpatialContour, MBSim::ContactKinematicsPlatePolynomialFrustum, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointContourInterpolation, MBSim::ContactKinematicsPointCylinder, MBSim::ContactKinematicsPointFrustum, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointPlane, MBSim::ContactKinematicsPointPlaneWithFrustum, MBSim::ContactKinematicsPointPlate, MBSim::ContactKinematicsPointPolynomialFrustum, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointSphere, MBSim::ContactKinematicsSpatialContourSpatialContour, MBSim::ContactKinematicsSphereFrustum, MBSim::ContactKinematicsSpherePlane, MBSim::ContactKinematicsSpherePlate, MBSim::ContactKinematicsSpherePolynomialFrustum, MBSim::ContactKinematicsSphereSpatialContour, MBSim::ContactKinematicsSphereSphere, and MBSim::ContactKinematicsCompoundContourContour.

assignContours() [2/2]

void MBSim::ContactKinematics::assignContours ( Contour *  contour1, Contour *  contour2  )

inline

treats ordering of contours

Parameters

first	contour
second	contour

getMaximumNumberOfContacts()

int MBSim::ContactKinematics::getMaximumNumberOfContacts ( ) const

inline

Returns

maximum number of contacts

setInitialGuess()

virtual void MBSim::ContactKinematics::setInitialGuess ( const fmatvec::MatV &  zeta0_ )

inlinevirtual

set initial guess for root-finding

Reimplemented in MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsCircleSpatialContour, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsPlanarContourPlanarContour, MBSim::ContactKinematicsPlaneSpatialContour, MBSim::ContactKinematicsPointExtrusion, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsSpatialContourSpatialContour, and MBSim::ContactKinematicsSphereSpatialContour.

updateg() [1/2]

virtual void MBSim::ContactKinematics::updateg ( SingleContact &  contact, int  i = 0  )

inlinevirtual

compute contact kinematics for a single contact

Parameters

conctact	single contact
i	index of the contact that should be updated

Reimplemented in MBSim::ContactKinematicsBevelGearBevelGear, MBSim::ContactKinematicsBevelGearPlanarGear, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCircleFrustum, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsCirclePlanarFrustum, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsCircleSpatialContour, MBSim::ContactKinematicsCylindricalGearCylindricalGear, MBSim::ContactKinematicsCylindricalGearRack, MBSim::ContactKinematicsEdgeEdge, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsPlanarContourPlanarContour, MBSim::ContactKinematicsPlaneSpatialContour, MBSim::ContactKinematicsPlatePolynomialFrustum, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointContourInterpolation, MBSim::ContactKinematicsPointCylinder, MBSim::ContactKinematicsPointExtrusion, MBSim::ContactKinematicsPointFrustum, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointPlane, MBSim::ContactKinematicsPointPlaneWithFrustum, MBSim::ContactKinematicsPointPlate, MBSim::ContactKinematicsPointPolynomialFrustum, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointSphere, MBSim::ContactKinematicsSpatialContourSpatialContour, MBSim::ContactKinematicsSphereFrustum, MBSim::ContactKinematicsSpherePlane, MBSim::ContactKinematicsSpherePlate, MBSim::ContactKinematicsSpherePolynomialFrustum, MBSim::ContactKinematicsSphereSpatialContour, and MBSim::ContactKinematicsSphereSphere.

updateg() [2/2]

virtual void MBSim::ContactKinematics::updateg ( std::vector< SingleContact > &  contact )

virtual

compute contact kinematics for all contacts

Parameters

contact	vector of all contacts
i	index of the contact point that should be updated

Reimplemented in MBSim::ContactKinematicsCompoundContourCompoundContour, and MBSim::ContactKinematicsCompoundContourContour.

updatewb() [1/2]

void MBSim::ContactKinematics::updatewb ( SingleContact &  contact, int  i = 0  )

virtual

compute contact kinematics on acceleration level for a single contact

Parameters

conctact	single contact
i	index of the contact that should be updated

Reimplemented in MBSim::ContactKinematicsBevelGearBevelGear, MBSim::ContactKinematicsBevelGearPlanarGear, MBSim::ContactKinematicsCircleCircle, MBSim::ContactKinematicsCircleExtrusion, MBSim::ContactKinematicsCircleLine, MBSim::ContactKinematicsCircleLineSegment, MBSim::ContactKinematicsCirclePlanarContour, MBSim::ContactKinematicsCirclePlane, MBSim::ContactKinematicsCylindricalGearCylindricalGear, MBSim::ContactKinematicsCylindricalGearRack, MBSim::ContactKinematicsLinePlanarContour, MBSim::ContactKinematicsPlanarContourPlanarContour, MBSim::ContactKinematicsPlaneSpatialContour, MBSim::ContactKinematicsPointCircle, MBSim::ContactKinematicsPointCylinder, MBSim::ContactKinematicsPointLine, MBSim::ContactKinematicsPointLineSegment, MBSim::ContactKinematicsPointPlanarContour, MBSim::ContactKinematicsPointPlane, MBSim::ContactKinematicsPointSpatialContour, MBSim::ContactKinematicsPointSphere, and MBSim::ContactKinematicsSpherePlane.

updatewb() [2/2]

virtual void MBSim::ContactKinematics::updatewb ( std::vector< SingleContact > &  contact )

inlinevirtual

compute contact kinematics on acceleration level for all contacts

Parameters

conctact	single contact
i	index of the contact that should be updated

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

• /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/contact_kinematics.h
• /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/contact_kinematics.cc