MBSim::ContactKinematicsPointFrustum Class Reference
pairing point to frustum surface More...
#include <point_frustum.h>
Inheritance diagram for MBSim::ContactKinematicsPointFrustum:
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... | |
 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 | ipoint |
| contour index | |
| int | ifrustum |
| Point * | point |
| contour classes | |
| Frustum * | frustum |
| 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
pairing point to frustum surface
REMARK The first tangential of the contact frame of the frustum points in positive axial direction, i.e. the height direction
Member Function Documentation
◆ assignContours()
|
overridevirtual |
◆ updateg()
|
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/point_frustum.h
- /mbsim-env/mbsim/kernel/mbsim/contact_kinematics/point_frustum.cc