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:

Public Member Functions
	ContactKinematicsCircleFrustum ()
	constructor \default no debugging \default no warnings \default global search
	~ContactKinematicsCircleFrustum () override
	destructor
void	search_ ()
void	calcisSize () override
void	assignContours (const std::vector< Contour * > &contour) override
	treats ordering of contours More...
void	setInitialGuess (const fmatvec::MatV &zeta0_) override
	set initial guess for root-finding More...
void	updateg (SingleContact &contact, int i=0) override
	compute contact kinematics for a single contact More...
Public Member Functions inherited from MBSim::ContactKinematics
	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

Protected Attributes
int	icircle
	contour index
int	ifrustum
Frustum *	frustum
	contour classes
Circle *	circle
FuncPairConeSectionCircle *	funcRho
JacobianPairConeSectionCircle *	jacRho
std::vector< double >	nodes
Protected Attributes inherited from MBSim::ContactKinematics
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}

Additional Inherited Members
Static Public Member Functions inherited from MBSim::ContactKinematics
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)

Detailed Description

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

Author

Thorsten Schindler

Bastian Esefeld

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

Member Function Documentation

assignContours()

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

overridevirtual

treats ordering of contours

Parameters

contour

vector

Reimplemented from MBSim::ContactKinematics.

calcisSize()

void MBSim::ContactKinematicsCircleFrustum::calcisSize ( )

inlineoverridevirtual

Reimplemented from MBSim::ContactKinematics.

setInitialGuess()

void MBSim::ContactKinematicsCircleFrustum::setInitialGuess ( const fmatvec::MatV &  zeta0_ )

overridevirtual

set initial guess for root-finding

Reimplemented from MBSim::ContactKinematics.

updateg()

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

overridevirtual

compute contact kinematics for a single contact

Parameters

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

Reimplemented from MBSim::ContactKinematics.

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

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