mbsim 4.0.0 MBSim Kernel

generalized_force_law.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 _GENERALIZED_FORCE_LAW_H_
21 #define _GENERALIZED_FORCE_LAW_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
27 class GeneralizedImpactLaw;
28
34 class GeneralizedForceLaw : public Element {
35 public:
39 GeneralizedForceLaw() : Element(uniqueDummyName(this)) {
40 plotFeature[plotRecursive]=false;
41 }
42
46 ~GeneralizedForceLaw() override = default;
47
48 /* INTERFACE FOR DERIVED CLASSES */
55 virtual bool isClosed(double g, double gTol) { return true; }
56
65 virtual double project(double la, double gdn, double r, double laMin=0) { throwError("(GeneralizedForceLaw::project): Not implemented."); }
66 virtual fmatvec::Vec diff(double la, double gdn, double r, double laMin=0) { throwError("(GeneralizedForceLaw::diff): Not implemented."); }
67 virtual double solve(double G, double gdn) { throwError("(GeneralizedForceLaw::solve): Not implemented."); }
68 virtual double operator()(double g, double gd) { throwError("(GeneralizedForceLaw::operator()): Not implemented."); }
69
77 virtual bool isFulfilled(double la, double gdn, double tolla, double tolgd, double laMin=0) { return true; }
78
82 virtual bool isSetValued() const = 0;
83
84 virtual GeneralizedImpactLaw* createGeneralizedImpactLaw() const { return nullptr; }
85 };
86
87 }
88
89 #endif
MBSim::GeneralizedForceLaw
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:34
MBSim::GeneralizedForceLaw::isFulfilled
virtual bool isFulfilled(double la, double gdn, double tolla, double tolgd, double laMin=0)
Definition: generalized_force_law.h:77
MBSim::GeneralizedForceLaw::project
virtual double project(double la, double gdn, double r, double laMin=0)
prox function evaluation
Definition: generalized_force_law.h:65
MBSim::GeneralizedForceLaw::~GeneralizedForceLaw
~GeneralizedForceLaw() override=default
destructor
MBSim::Element::plotFeature
PlotFeatureMap plotFeature
plot feature
Definition: element.h:309
MBSim::Element
basic class of MBSim mainly for plotting
Definition: element.h:56
MBSim::GeneralizedForceLaw::isClosed
virtual bool isClosed(double g, double gTol)
decides, if force law is active
Definition: generalized_force_law.h:55
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::GeneralizedForceLaw::GeneralizedForceLaw
GeneralizedForceLaw()
constructor
Definition: generalized_force_law.h:39
MBSim::GeneralizedForceLaw::isSetValued
virtual bool isSetValued() const =0
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30