class for contact kinematics between convex frustum and an plate More...

#include <plate_polynomialfrustum.h>

Inheritance diagram for MBSim::ContactKinematicsPlatePolynomialFrustum:

Public Member Functions
void	assignContours (const std::vector< Contour * > &contour) override
	treats ordering of contours More...

void	updateg (SingleContact &contact, int i=0) override
	compute contact kinematics for a single contact More...

void	setGridSizeY (int gridSizeY_)

void	setGridSizeZ (int gridSizeZ_)

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 Member Functions
void	setFrustumOrienationKinematics (const double &x, const double &phi, SingleContact &contact)
	set the values for the contact kinematics for the frustum due to the given x and phi

bool	cpLocationInPlate (SingleContact &contact)
	check if there is a contact point within the plate between the frustum and the plate More...

bool	gridContact (SingleContact &contact)
	if the unique contact point cannot be found a grid is walked through and a weighted sum results in the contact point More...

bool	cornerContact (SingleContact &contact)
	checks if there is a contact point at one of the corner points More...

bool	edgeContact (SingleContact &contact)
	checks if there is a contact on one edge of the plate More...

fmatvec::Vec3	computeContourPointFrustum (const double &x, const fmatvec::Vec3 &n)
	computes the point on the contour of the frustum due to the height-coordinate x and the normal in world coordinates More...

fmatvec::Vec3	computeContourPoint (const double &x, const fmatvec::Vec3 &n)
	computes the point on the contour of the frustum due to the height-coordinate x and the normal in world coordinates More...

int	checkPossibleContactPoint (const double &x, const fmatvec::Vec3 &n)
	check if frustum point identified by coordinate x is possible contact point More...

double	distance2Plate (const fmatvec::Vec3 &point)
	compute distance between given point and plate More...

void	updateGrid ()
	updates the grid for the discrete contact point approximation

Protected Attributes
int	iplate {-1}
	contour index of plate (in cpData)

int	ifrustum {-1}
	contour index of frustum (in cpData)

Plate *	plate {nullptr}
	pointer to the contour class for the plate

PolynomialFrustum *	frustum {nullptr}
	pointer to the contour class for the polynomial frustum

double	signh {1.}
	sign of height-direction

int	gridSizeY {5}
	grid size in y-direction for the search with grid points

int	gridSizeZ {5}
	grid size in z-direction for the search with grid points

double	x1 {-1}
	save last value to use it again as starting value for equation 1

double	x2 {-1}
	save last value to use it again as starting value for equation 2

fmatvec::Vec3	cornerPoints [4]
	array of the four corner points of the plate in the frame of the frustum

std::vector< std::vector< fmatvec::Vec3 > >	gridPoints
	saves the points for the contact point computation

MBSim::projectPointAlongNormal *	funcProjectAlongNormal {nullptr}
	function for intersection point

MBSim::MultiDimensionalNewtonMethod	newtonProjectAlongNormal
	newton method for solving the edge contact

MBSim::projectPointAlongNormalJacobian *	jacobianProjectAlongNormal {nullptr}
	Jacobian for newton method.

GlobalResidualCriteriaFunction	criteriaProjectAlongNormal
	criteria for newton method

MBSim::StandardDampingFunction	dampingProjectAlongNormal
	damping function for newton method

edgePolyFrustum *	funcEdge {nullptr}
	function for intersection point

MBSim::MultiDimensionalNewtonMethod	newtonEdge
	newton method for solving the edge contact

MBSim::NumericalNewtonJacobianFunction	jacobianEdge
	Jacobian for newton method.

edgePolyFrustumCriteria	criteriaEdge
	criteria for newton method

MBSim::StandardDampingFunction	dampingEdge
	damping function for newton method

int	ilast {-1}
	index of last edge contact

fmatvec::Vec	xi
	last position of edge contact

fmatvec::Vec2	zeta

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

class for contact kinematics between convex frustum and an plate

Author: Kilian Grundl, Tingting Sun

Date: 09.10.2012

Member Function Documentation

◆ assignContours()

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

overridevirtual

treats ordering of contours

Parameters

contour vector

Reimplemented from MBSim::ContactKinematics.

◆ checkPossibleContactPoint()

int MBSim::ContactKinematicsPlatePolynomialFrustum::checkPossibleContactPoint	(	const double &	x,
		const fmatvec::Vec3 &	n
	)

protected

check if frustum point identified by coordinate x is possible contact point

Parameters

x	height-coordinate of possible contact point
n	normal vector of the plate

◆ computeContourPoint()

Vec3 MBSim::ContactKinematicsPlatePolynomialFrustum::computeContourPoint	(	const double &	x,
		const fmatvec::Vec3 &	n
	)

protected

computes the point on the contour of the frustum due to the height-coordinate x and the normal in world coordinates

Parameters

x	height coordinate
n	normal of the frustum

Returns: contour point in world coordinates of the contour point on the frustum

◆ computeContourPointFrustum()

Vec3 MBSim::ContactKinematicsPlatePolynomialFrustum::computeContourPointFrustum	(	const double &	x,
		const fmatvec::Vec3 &	n
	)

protected

computes the point on the contour of the frustum due to the height-coordinate x and the normal in world coordinates

Parameters

x	height coordinate
n	normal of the frustum

Returns: contour point in frustum coordinates of the contour point on the frustum

◆ cornerContact()

bool MBSim::ContactKinematicsPlatePolynomialFrustum::cornerContact ( SingleContact & contact )

protected

checks if there is a contact point at one of the corner points

Returns: true (if) or false (if there is no contact at one of the corner points)

◆ cpLocationInPlate()

bool MBSim::ContactKinematicsPlatePolynomialFrustum::cpLocationInPlate ( SingleContact & contact )

protected

check if there is a contact point within the plate between the frustum and the plate

Returns: true (if) or false (if there is no contact within the plate)

If there is contact the position and the cpData information is setted right away

◆ distance2Plate()

double MBSim::ContactKinematicsPlatePolynomialFrustum::distance2Plate ( const fmatvec::Vec3 & point )

protected

compute distance between given point and plate

Parameters

point Given point in world coordinates

◆ edgeContact()

bool MBSim::ContactKinematicsPlatePolynomialFrustum::edgeContact ( SingleContact & contact )

protected

checks if there is a contact on one edge of the plate

Returns: true (if) or false (if there is no contact at one of the corner points)

Todo:: : unefficient and only finding (one) intersection point --> There should always be two intersection points and then using the middle or something

◆ gridContact()

bool MBSim::ContactKinematicsPlatePolynomialFrustum::gridContact ( SingleContact & contact )

protected

if the unique contact point cannot be found a grid is walked through and a weighted sum results in the contact point

Returns: true (if) or false (if there is no contact at one of the corner points)

◆ updateg()

void MBSim::ContactKinematicsPlatePolynomialFrustum::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.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ assignContours()

◆ checkPossibleContactPoint()

◆ computeContourPoint()

◆ computeContourPointFrustum()

◆ cornerContact()

◆ cpLocationInPlate()

◆ distance2Plate()

◆ edgeContact()

◆ gridContact()

◆ updateg()