mbsim 4.0.0 MBSim Kernel

state_dependent_function.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: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef STATE_DEPENDENT_FUNCTION_H_
21 #define STATE_DEPENDENT_FUNCTION_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
27 template <class Ret>
28 class StateDependentFunction : public Function<Ret(fmatvec::VecV,double)> {
29 using B = fmatvec::Function<Ret(fmatvec::VecV,double)>;
30 private:
31 Function<Ret(fmatvec::VecV)> *f;
32 int n{0};
33 public:
34 StateDependentFunction(Function<Ret(fmatvec::VecV)> *f_=NULL) : f(f_) {
35 if(f)
36 f->setParent(this);
37 }
38 ~StateDependentFunction() override { delete f; }
39 int getArg1Size() const override { return f->getArgSize();}
40 int getArg2Size() const override { return 0; }
41 std::pair<int, int> getRetSize() const override { return f->getRetSize(); }
42 Ret operator()(const fmatvec::VecV &arg1, const double &arg2) override {return (*f)(arg1); }
43 typename B::DRetDArg1 parDer1(const fmatvec::VecV &arg1, const double &arg2) override { return f->parDer(arg1); }
44 typename B::DRetDArg2 parDer2(const fmatvec::VecV &arg1, const double &arg2) override {return typename B::DRetDArg2(n); }
45 typename B::DRetDArg2 parDer2DirDer1(const fmatvec::VecV &arg1Dir, const fmatvec::VecV &arg1, const double &arg2) override { return typename B::DRetDArg2(n); }
46 typename B::DRetDArg2 parDer2DirDer2(const double &arg2Dir, const fmatvec::VecV &arg1, const double &arg2) override { return typename B::DRetDArg2(n); }
47 typename B::DRetDArg1 parDer1DirDer1(const fmatvec::VecV &arg1Dir, const fmatvec::VecV &arg1, const double &arg2) override { return f->parDerDirDer(arg1Dir,arg1); }
48 typename B::DRetDArg1 parDer1DirDer2(const double &arg2Dir, const fmatvec::VecV &arg1, const double &arg2) override { return typename B::DRetDArg1(n,getArg1Size()); }
49 bool constParDer1() const override { return f->constParDer(); }
50 bool constParDer2() const override { return true; }
51 Function<Ret(fmatvec::VecV)>* getFunction() const { return f; }
52 void init(Element::InitStage stage, const InitConfigSet &config) override {
53 Function<Ret(fmatvec::VecV,double)>::init(stage, config);
54 f->init(stage, config);
55 if(stage == Element::preInit)
56 n = f->getRetSize().first;
57 }
58 void setDynamicSystemSolver(DynamicSystemSolver* sys) {
59 Function<Ret(fmatvec::VecV,double)>::setDynamicSystemSolver(sys);
60 f->setDynamicSystemSolver(sys);
61 }
62 };
63
64 }
65
66 #endif
MBSim::Element::init
virtual void init(InitStage stage, const InitConfigSet &config)
plots time series header
Definition: element.cc:91
MBSim::DynamicSystemSolver
solver interface for modelling and simulation of dynamic systems
Definition: dynamic_system_solver.h:61
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::StateDependentFunction::init
void init(Element::InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: state_dependent_function.h:52
MBSim::StateDependentFunction::setDynamicSystemSolver
void setDynamicSystemSolver(DynamicSystemSolver *sys)
sets the used dynamics system solver to the element
Definition: state_dependent_function.h:58
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::Element::preInit
Definition: element.h:64
MBSim::Element::setDynamicSystemSolver
virtual void setDynamicSystemSolver(DynamicSystemSolver *sys)
sets the used dynamics system solver to the element
Definition: element.h:91
MBSim::StateDependentFunction
Definition: state_dependent_function.h:28
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30