mbsim 4.0.0 MBSim Kernel

spatial_stribeck_friction.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 _SPATIAL_STRIBECK_FRICTION_H_
21 #define _SPATIAL_STRIBECK_FRICTION_H_
22
23 #include <mbsim/constitutive_laws/friction_force_law.h>
24
25 namespace MBSim {
26
33 class SpatialStribeckFriction : public FrictionForceLaw {
34 public:
38 SpatialStribeckFriction(Function<double(double)> *fmu_=nullptr) : fmu(fmu_) {
39 if(fmu) fmu->setParent(this);
40 }
41
45 ~SpatialStribeckFriction() override { delete fmu; fmu=nullptr; }
46
47 void init(Element::InitStage stage, const InitConfigSet &config) override {
48 FrictionForceLaw::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, double laN, double r) override;
54 fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r) override;
55 fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, double laN) override;
56 bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double laTol, double gdTol) override;
57 fmatvec::Vec dlaTdlaN(const fmatvec::Vec& gd) override;
58 int getFrictionDirections() override { return 2; }
59 bool isSticking(const fmatvec::Vec& s, double sTol) override { return nrm2(s) <= sTol; }
60 bool isSetValued() const override { return true; }
61 void initializeUsingXML(xercesc::DOMElement *element) override;
62 /***************************************************/
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::SpatialStribeckFriction::init
void init(Element::InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: spatial_stribeck_friction.h:47
MBSim::SpatialStribeckFriction
spatial Stribeck friction force law on acceleration level for constraint description
Definition: spatial_stribeck_friction.h:33
MBSim::SpatialStribeckFriction::SpatialStribeckFriction
SpatialStribeckFriction(Function< double(double)> *fmu_=nullptr)
constructor
Definition: spatial_stribeck_friction.h:38
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::FrictionForceLaw
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:34
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::SpatialStribeckFriction::fmu
Function< double(double)> * fmu
Definition: spatial_stribeck_friction.h:73
MBSim::SpatialStribeckFriction::~SpatialStribeckFriction
~SpatialStribeckFriction() override
destructor
Definition: spatial_stribeck_friction.h:45
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30