mbsim 4.0.0 MBSim Kernel

friction_force_law.h
1 /* Copyright (C) 2004-2014 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 _FRICTION_FORCE_LAW_H_
21 #define _FRICTION_FORCE_LAW_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
27 class FrictionImpactLaw;
28
34 class FrictionForceLaw : public Element {
35 public:
39 FrictionForceLaw() : Element(uniqueDummyName(this)) {
40 plotFeature[plotRecursive]=false;
41 }
42
46 ~FrictionForceLaw() override = default;
47
48 /* INTERFACE FOR DERIVED CLASSES */
49 virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r) { throwError("(FrictionForceLaw::project): Not implemented."); }
50 virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r) { throwError("(FrictionForceLaw::diff): Not implemented."); }
51 virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, double laN) { throwError("(FrictionForceLaw::solve): Not implemented."); }
52 virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double tolla, double tolgd) { return true; }
53 virtual fmatvec::Vec operator()(const fmatvec::Vec &gd, double laN) { throwError("(FrictionForceLaw::operator()): Not implemented."); }
54 virtual fmatvec::Vec dlaTdlaN(const fmatvec::Vec& gd) { throwError("(FrictionForceLaw::dlaTdlaN): Not implemented."); }
55 virtual int getFrictionDirections() = 0;
56 virtual bool isSticking(const fmatvec::Vec& s, double sTol) = 0;
57 virtual bool isSetValued() const = 0;
58 virtual FrictionImpactLaw* createFrictionImpactLaw() const { return nullptr; }
59 /***************************************************/
60 };
61
62 }
63
64 #endif
MBSim::FrictionForceLaw::~FrictionForceLaw
~FrictionForceLaw() override=default
destructor
MBSim::Element::plotFeature
PlotFeatureMap plotFeature
plot feature
Definition: element.h:309
MBSim::Element
basic class of MBSim mainly for plotting
Definition: element.h:56
MBSim::FrictionForceLaw::FrictionForceLaw
FrictionForceLaw()
constructor
Definition: friction_force_law.h:39
MBSim::FrictionForceLaw
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:34
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30