mbsim 4.0.0 MBSim Kernel

unilateral_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 _UNILATERAL_CONSTRAINT_H_
21 #define _UNILATERAL_CONSTRAINT_H_
22
23 #include <mbsim/constitutive_laws/generalized_force_law.h>
24
25 namespace MBSim {
26
32 class UnilateralConstraint : public GeneralizedForceLaw {
33 public:
37 UnilateralConstraint() = default;
38
42 ~UnilateralConstraint() override = default;
43
44 /* INHERITED INTERFACE */
45 bool isClosed(double g, double gTol) override { return g<=gTol; }
46 double project(double la, double gdn, double r, double laMin=0) override;
47 fmatvec::Vec diff(double la, double gdn, double r, double laMin=0) override;
48 double solve(double G, double gdn) override;
49 bool isFulfilled(double la, double gdn, double laTol, double gdTol, double laMin=0) override;
50 bool isSetValued() const override { return true; }
51 GeneralizedImpactLaw* createGeneralizedImpactLaw() const override;
52 /***************************************************/
53 };
54
55 }
56
57 #endif
MBSim::GeneralizedForceLaw
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:34
MBSim::UnilateralConstraint::isFulfilled
bool isFulfilled(double la, double gdn, double laTol, double gdTol, double laMin=0) override
Definition: unilateral_constraint.cc:57
MBSim::UnilateralConstraint
basic unilateral force law on acceleration level for constraint description
Definition: unilateral_constraint.h:32
MBSim::UnilateralConstraint::~UnilateralConstraint
~UnilateralConstraint() override=default
destructor
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::UnilateralConstraint::isClosed
bool isClosed(double g, double gTol) override
decides, if force law is active
Definition: unilateral_constraint.h:45
MBSim::UnilateralConstraint::isSetValued
bool isSetValued() const override
Definition: unilateral_constraint.h:50
MBSim::UnilateralConstraint::UnilateralConstraint
UnilateralConstraint()=default
constructor
MBSim::UnilateralConstraint::project
double project(double la, double gdn, double r, double laMin=0) override
prox function evaluation
Definition: unilateral_constraint.cc:35
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30