mbsim 4.0.0 MBSim Kernel

linear_regularized_unilateral_constraint.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: markus.ms.schneider@gmail.com
18 */
19
20 #ifndef _LINEAR_REGULARIZED_UNILATERAL_CONSTRAINT_H_
21 #define _LINEAR_REGULARIZED_UNILATERAL_CONSTRAINT_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
33 class LinearRegularizedUnilateralConstraint: public Function<double(double,double)> {
34 public:
38 LinearRegularizedUnilateralConstraint() {}
39
45 LinearRegularizedUnilateralConstraint(double c_, double d_) : c(c_), d(d_) {}
46
47 /* INHERITED INTERFACE OF FUNCTION2 */
48 double operator()(const double& g, const double& gd) override {
49 if(g>0)
50 return 0;
51 else if(gd<0)
52 return -c*g - d*gd;
53 else
54 return -c*g;
55 }
56 void initializeUsingXML(xercesc::DOMElement *element) override;
57 /***************************************************/
58
59 /* GETTER / SETTER */
60 void setParameter(double c_, double d_) { c=c_; d=d_; }
61 /***************************************************/
62
63 private:
67 double c{0}, d{0};
68 };
69
70 }
71
72 #endif
MBSim::LinearRegularizedUnilateralConstraint::c
double c
stiffness, damping
Definition: linear_regularized_unilateral_constraint.h:67
MBSim::LinearRegularizedUnilateralConstraint::LinearRegularizedUnilateralConstraint
LinearRegularizedUnilateralConstraint()
constructor
Definition: linear_regularized_unilateral_constraint.h:38
MBSim::LinearRegularizedUnilateralConstraint
function describing a linear relationship between the input relative distance / velocity and the outp...
Definition: linear_regularized_unilateral_constraint.h:33
MBSim::LinearRegularizedUnilateralConstraint::LinearRegularizedUnilateralConstraint
LinearRegularizedUnilateralConstraint(double c_, double d_)
constructor
Definition: linear_regularized_unilateral_constraint.h:45
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30