mbsim 4.0.0 MBSim Kernel

planar_stribeck_impact.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 _PLANAR_STRIBECK_IMPACT_H_
21 #define _PLANAR_STRIBECK_IMPACT_H_
22
23 #include <mbsim/constitutive_laws/friction_impact_law.h>
24
25 namespace MBSim {
26
33 class PlanarStribeckImpact : public FrictionImpactLaw {
34 public:
38 PlanarStribeckImpact(Function<double(double)> *fmu_=nullptr) : fmu(fmu_) {
39 if(fmu) fmu->setParent(this);
40 }
41
45 ~PlanarStribeckImpact() override { delete fmu; fmu=nullptr; }
46
47 void init(Element::InitStage stage, const InitConfigSet &config) override {
48 FrictionImpactLaw::init(stage, config);
49 fmu->init(stage, config);
50 }
51
52 /* INHERITED INTERFACE */
53 fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) override;
54 fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) override;
55 fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN) override;
56 bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) override;
57 int isSticking(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) override;
58 int getFrictionDirections() override { return 1; }
59 void initializeUsingXML(xercesc::DOMElement *element) override;
60 /***************************************************/
61
62 double getFrictionCoefficient(double gd) { return (*fmu)(gd); }
63
64 void setFrictionFunction(Function<double(double)> *fmu_) {
65 fmu = fmu_;
66 if(fmu) fmu->setParent(this);
67 }
68
69 protected:
73 Function<double(double)> *fmu;
74 };
75
76 }
77
78 #endif
MBSim::Element::init
virtual void init(InitStage stage, const InitConfigSet &config)
plots time series header
Definition: element.cc:91
MBSim::PlanarStribeckImpact::fmu
Function< double(double)> * fmu
Definition: planar_stribeck_impact.h:73
MBSim::PlanarStribeckImpact::~PlanarStribeckImpact
~PlanarStribeckImpact() override
destructor
Definition: planar_stribeck_impact.h:45
MBSim::PlanarStribeckImpact::PlanarStribeckImpact
PlanarStribeckImpact(Function< double(double)> *fmu_=nullptr)
constructor
Definition: planar_stribeck_impact.h:38
MBSim::FrictionImpactLaw
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::PlanarStribeckImpact::init
void init(Element::InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: planar_stribeck_impact.h:47
MBSim::PlanarStribeckImpact
planar Stribeck friction force law on velocity level for constraint description
Definition: planar_stribeck_impact.h:33
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30