mbsim 4.0.0 MBSim Kernel

regularized_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 _REGULARIZED_UNILATERAL_CONSTRAINT_H_
21 #define _REGULARIZED_UNILATERAL_CONSTRAINT_H_
22
23 #include <mbsim/constitutive_laws/regularized_constraint.h>
24
25 namespace MBSim {
26
32 class RegularizedUnilateralConstraint : public RegularizedConstraint {
33 public:
37 RegularizedUnilateralConstraint(Function<double(double,double)> *forceFunc_=nullptr) : RegularizedConstraint(forceFunc_) { }
38
42 ~RegularizedUnilateralConstraint() override = default;;
43
44 /* INHERITED INTERFACE */
45 bool isClosed(double g, double gTol) override { return g<=gTol; }
46 /***************************************************/
47 };
48
49 }
50
51 #endif
MBSim::RegularizedUnilateralConstraint::~RegularizedUnilateralConstraint
~RegularizedUnilateralConstraint() override=default
destructor
MBSim::RegularizedUnilateralConstraint::RegularizedUnilateralConstraint
RegularizedUnilateralConstraint(Function< double(double, double)> *forceFunc_=nullptr)
constructor
Definition: regularized_unilateral_constraint.h:37
MBSim::RegularizedUnilateralConstraint
basic regularized unilateral force law on acceleration level for constraint description
Definition: regularized_unilateral_constraint.h:32
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::RegularizedUnilateralConstraint::isClosed
bool isClosed(double g, double gTol) override
decides, if force law is active
Definition: regularized_unilateral_constraint.h:45
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30
MBSim::RegularizedConstraint
basic regularized force law on acceleration level for constraint description
Definition: regularized_constraint.h:31