mbsimcontrol 4.0.0 MBSim Control Module

massless_spring_damper.h
1 /* Copyright (C) 2011 Markus Schneider
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 *
18 *
19 * Contact:
20 * schneidm@amm.mw.tu-muenchen.de
21 *
22 */
23
24 #ifndef _MASSLESS_SPRING_DAMPER_
25 #define _MASSLESS_SPRING_DAMPER_
26
27 #include "mbsimControl/signal_.h"
28
29 namespace MBSimControl {
30
35 class MasslessSpringDamper : public Signal {
36
37 public:
38 MasslessSpringDamper(const std::string& name="");
39 void initializeUsingXML(xercesc::DOMElement * element) override;
40
41 void calcxSize() override {xSize=1; }
42
43 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
44
45 void updateSignal() override { s = x; upds = false; }
46
47 void updatexd() override;
48
49 void plot() override;
50
51 void setSpringStiffness(double c_) {c=c_; }
52 void setBasicSpringForce(double F0_) {F0=F0_; }
53 void setDampingCoefficient(double d_) {dPos=d_; }
54 void setNegativeDampingCoefficient(double d_) {dNeg=d_; }
55 void setFrictionForce(double FFric_) {FFricPos=FFric_; }
56 void setNegativeFrictionForce(double FFric_) {FFricNeg=FFric_; }
57 void setMinimumPositionValue(double xMin_) {xMin=xMin_; }
58 void setMaximumPositionValue(double xMax_) {xMax=xMax_; }
59
60 void setInputSignal(Signal * inputSignal_) { inputSignal=inputSignal_; }
61 int getSignalSize() const override { return inputSignal->getSignalSize(); }
62
63 private:
64 double c, F0, dPos, dNeg, FFricPos, FFricNeg, xMin, xMax;
65 double xdLocal;
66 Signal * inputSignal;
67 std::string inputSignalString;
68 };
69 }
70
71 #endif
MBSim::Link::x
fmatvec::Vec x
MBSim::Link::xSize
int xSize
MBSimControl::Signal
Signal.
Definition: signal_.h:38
MBSimControl::MasslessSpringDamper
Massless Spring Damper (PT1)
Definition: massless_spring_damper.h:35
MBSim::Element::InitStage
InitStage
MBSim::Element::name
std::string name