nurbs_curve_1s.h

/* Copyright (C) 2004-2012 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: thorsten.schindler@mytum.de
 */
 
#ifndef NurbsCurve1s_H_
#define NurbsCurve1s_H_
 
#include "mbsimFlexibleBody/contours/contour1s.h"
#include "mbsim/numerics/nurbs/nurbs_curve.h"
 
namespace MBSimFlexibleBody {
 
  class NurbsCurve1s : public Contour1s {
    public:
      NurbsCurve1s(const std::string &name) : Contour1s(name), Elements(0), openStructure(false), L(0.), degU(0), curveTranslations(), curveVelocities(), curveAngularVelocities(), normalRotationGrid() { }
 
       ~NurbsCurve1s() override = default;
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      /* INHERITED INTERFACE OF CONTOURCONTINUUM */
      virtual void computeRootFunctionPosition(MBSim::ContourFrame *frame);
      virtual void computeRootFunctionFirstTangent(MBSim::ContourFrame *frame);
      virtual void computeRootFunctionNormal(MBSim::ContourFrame *frame);
      virtual void computeRootFunctionSecondTangent(MBSim::ContourFrame *frame);
      /***************************************************/
 
      /* INHERITED INTERFACE OF CONTOUR */
       MBSim::ContactKinematics *findContactPairingWith(const std::type_info &type0, const std::type_info &type1) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setNormalRotationGrid(const fmatvec::Vec& normal_) { normalRotationGrid = normal_(fmatvec::RangeV(0,2)); }
      /***************************************************/
 
      void initContourFromBody(InitStage stage);
 
      void computeCurveTranslations(bool update = false);
 
      void computeCurveVelocities(bool update = false);
 
      void computeCurveAngularVelocities(bool update = false);
 
      void computeCurveJacobians(bool trans = true, bool rot = true, bool update = false);
 
    protected:
      int Elements;
 
      int qSize;
 
      bool openStructure;
 
      double L;
 
      int degU;
 
      MBSim::NurbsCurve curveTranslations;
 
      MBSim::NurbsCurve curveVelocities;
 
      MBSim::NurbsCurve curveAngularVelocities;
 
      fmatvec::Vec3 normalRotationGrid;
 
      std::vector<MBSim::NurbsCurve> CurveJacobiansOfTranslation; // size = number of generalized coordinates
 
      std::vector<MBSim::NurbsCurve> CurveJacobiansOfRotation; // size = number of generalized coordinates
 
  };
 
}
 
#endif /* NurbsCurve1s_H_ */