mbsim 4.0.0 MBSim Kernel

sinusoidal_function.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@gmail.com
18 */
19
20 #ifndef _SINUSOIDAL_FUNCTION_H_
21 #define _SINUSOIDAL_FUNCTION_H_
22
23 #include "mbsim/functions/function.h"
24 #include "mbsim/utils/utils.h"
25
26 namespace MBSim {
27
28 template<typename Sig> class SinusoidalFunction;
29
30 template<typename Ret, typename Arg>
31 class SinusoidalFunction<Ret(Arg)> : public Function<Ret(Arg)> {
32 using B = fmatvec::Function<Ret(Arg)>;
33 protected:
34 double A, f, phi0, y0;
35 public:
36 SinusoidalFunction(double A_=0, double f_=0, double phi0_=0, double y0_=0) : A(A_), f(f_), phi0(phi0_), y0(y0_) { }
37 void setAmplitude(double A_) { A = A_; }
38 void setFrequency(double f_) { f = f_; }
39 void setPhase(double phi0_) { phi0 = phi0_; }
40 void setOffset(double y0_) { y0 = y0_; }
41 int getArgSize() const override { return 1; }
42 std::pair<int, int> getRetSize() const override { return std::make_pair(1,1); }
43 Ret operator()(const Arg &x) override {
44 return FromDouble<Ret>::cast(y0+A*sin(2.*M_PI*f*ToDouble<Arg>::cast(x)+phi0));
45 }
46 typename B::DRetDArg parDer(const Arg &x) override {
47 double om = 2.*M_PI*f;
48 return FromDouble<typename B::DRetDArg>::cast(A*om*cos(om*ToDouble<Arg>::cast(x)+phi0));
49 }
50 typename B::DRetDArg parDerDirDer(const Arg &xDir, const Arg &x) override {
51 double om = 2.*M_PI*f;
52 return FromDouble<typename B::DRetDArg>::cast(-A*om*om*sin(om*ToDouble<Arg>::cast(x)+phi0)*ToDouble<Arg>::cast(xDir));
53 }
54 void initializeUsingXML(xercesc::DOMElement *element) override {
55 xercesc::DOMElement *e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"amplitude");
56 setAmplitude(MBXMLUtils::E(e)->getText<double>());
57 e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"frequency");
58 setFrequency(MBXMLUtils::E(e)->getText<double>());
59 e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"phase");
60 if(e) setPhase(MBXMLUtils::E(e)->getText<double>());
61 e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"offset");
62 if(e) setOffset(MBXMLUtils::E(e)->getText<double>());
63 }
64 };
65
66 }
67
68 #endif
MBSim::SinusoidalFunction
Definition: sinusoidal_function.h:28
MBSim::ToDouble
Definition: utils.h:61
MBSim::FromDouble
Definition: utils.h:89
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30