mbsim 4.0.0 MBSim Kernel

bilateral_constraint.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 _BILATERAL_CONSTRAINT_H_
21 #define _BILATERAL_CONSTRAINT_H_
22
23 #include <mbsim/constitutive_laws/generalized_force_law.h>
24
25 namespace MBSim {
26
33 class BilateralConstraint : public GeneralizedForceLaw {
34 public:
38 BilateralConstraint() = default;
39
43 ~BilateralConstraint() override = default;
44
45 /* INHERITED INTERFACE */
46 bool isClosed(double g, double gTol) override { return true; }
47 double project(double la, double gdn, double r, double laMin=0) override;
48 fmatvec::Vec diff(double la, double gdn, double r, double laMin=0) override;
49 double solve(double G, double gdn) override;
50 bool isFulfilled(double la, double gdn, double tolla, double gdTol, double laMin=0) override;
51 bool isSetValued() const override { return true; }
52 GeneralizedImpactLaw* createGeneralizedImpactLaw() const override;
53 /***************************************************/
54 };
55
56 }
57
58 #endif
MBSim::GeneralizedForceLaw
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:34
MBSim::BilateralConstraint
basic bilateral force law on acceleration level for constraint description
Definition: bilateral_constraint.h:33
MBSim::BilateralConstraint::BilateralConstraint
BilateralConstraint()=default
constructor
MBSim::BilateralConstraint::isClosed
bool isClosed(double g, double gTol) override
decides, if force law is active
Definition: bilateral_constraint.h:46
MBSim::BilateralConstraint::project
double project(double la, double gdn, double r, double laMin=0) override
prox function evaluation
Definition: bilateral_constraint.cc:34
MBSim::BilateralConstraint::isSetValued
bool isSetValued() const override
Definition: bilateral_constraint.h:51
MBSim::BilateralConstraint::isFulfilled
bool isFulfilled(double la, double gdn, double tolla, double gdTol, double laMin=0) override
Definition: bilateral_constraint.cc:49
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::BilateralConstraint::~BilateralConstraint
~BilateralConstraint() override=default
destructor
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30