mbsim 4.0.0 MBSim Kernel

generalized_clutch.h
1 /* Copyright (C) 2004-2021 MBSim Development Team
2 * This library is free software; you can redistribute it and/or
3 * modify it under the terms of the GNU Lesser General Public
4 * License as published by the Free Software Foundation; either
5 * version 2.1 of the License, or (at your option) any later version.
6 *
7 * This library is distributed in the hope that it will be useful,
8 * but WITHOUT ANY WARRANTY; without even the implied warranty of
9 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
10 * Lesser General Public License for more details.
11 *
12 * You should have received a copy of the GNU Lesser General Public
13 * License along with this library; if not, write to the Free Software
14 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
15 *
16 * Contact: martin.o.foerg@googlemail.com
17 */
18
19 #ifndef _GENERALIZED_CLUTCH_H_
20 #define _GENERALIZED_CLUTCH_H_
21
22 #include "mbsim/links/dual_rigid_body_link.h"
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
27 class FrictionForceLaw;
28 class FrictionImpactLaw;
29
30 class GeneralizedClutch : public DualRigidBodyLink {
31 protected:
32 FrictionForceLaw *laT{nullptr};
33 FrictionImpactLaw *LaT{nullptr};
34 Function<double(double)> *e{nullptr};
35 Function<double(double)> *laN{nullptr};
36 unsigned int gActive{1}, gActive0{0};
37 unsigned int gdActive{1};
38 unsigned int gddActive{1};
39 fmatvec::Vec gdn, gdd;
40 int gdDir;
41 int rootID{0};
42 public:
43 GeneralizedClutch(const std::string &name="") : DualRigidBodyLink(name), gdn(1), gdd(1) { }
44 ~GeneralizedClutch() override;
45 void updateGeneralizedForces() override;
46 void updateh(int i=0) override;
47 void updateW(int i=0) override;
48 void updatewb() override;
49 void updateg() override { }
50 void updategd() override;
51 const double& evalgdn();
52 const double& evalgdd();
53
54 bool isActive() const override;
55 bool gActiveChanged() override;
56 bool isSetValued() const override;
57 bool isSingleValued() const override { return true; }
58 void plot() override;
59 void init(InitStage stage, const InitConfigSet &config) override;
60
61 void setGeneralizedFrictionForceLaw(FrictionForceLaw *laT_);
62 void setGeneralizedFrictionImpactLaw(FrictionImpactLaw *LaT_);
63 void setEngagementFunction(Function<double(double)> *e_) {
64 e = e_;
65 e->setParent(this);
66 }
67 void setGeneralizedNormalForceFunction(Function<double(double)> *laN_) {
68 laN = laN_;
69 laN->setParent(this);
70 }
71
72 void updateStopVector() override;
73 void calclaSize(int j) override;
74 void calcgSize(int j) override;
75 void calcgdSize(int j) override;
76 void calcrFactorSize(int j) override;
77 void calcsvSize() override;
78 void checkActive(int j) override;
79 void calccorrSize(int j) override;
80 void updatecorr(int j) override;
81 void checkRoot() override;
82 void updaterFactors() override;
83 void solveConstraintsFixpointSingle() override;
84 void solveImpactsFixpointSingle() override;
85 void checkConstraintsForTermination() override;
86 void checkImpactsForTermination() override;
87
88 void initializeUsingXML(xercesc::DOMElement *element) override;
89 };
90
91 }
92
93 #endif
MBSim::GeneralizedClutch::gActiveChanged
bool gActiveChanged() override
Definition: generalized_clutch.cc:98
MBSim::GeneralizedClutch::isActive
bool isActive() const override
Definition: generalized_clutch.cc:94
MBSim::DualRigidBodyLink
Definition: dual_rigid_body_link.h:27
MBSim::GeneralizedClutch
Definition: generalized_clutch.h:30
MBSim::GeneralizedClutch::checkImpactsForTermination
void checkImpactsForTermination() override
verify underlying force laws on velocity level concerning given tolerances
Definition: generalized_clutch.cc:401
MBSim::GeneralizedClutch::calcgdSize
void calcgdSize(int j) override
calculates size of gap velocities
Definition: generalized_clutch.cc:182
MBSim::GeneralizedClutch::solveConstraintsFixpointSingle
void solveConstraintsFixpointSingle() override
Definition: generalized_clutch.cc:347
MBSim::GeneralizedClutch::checkActive
void checkActive(int j) override
check if set-valued contacts are active and set corresponding attributes
Definition: generalized_clutch.cc:207
MBSim::GeneralizedClutch::calclaSize
void calclaSize(int j) override
calculates size of contact force parameters
Definition: generalized_clutch.cc:165
MBSim::FrictionImpactLaw
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
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::GeneralizedClutch::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: generalized_clutch.cc:104
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::GeneralizedClutch::isSetValued
bool isSetValued() const override
asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore s...
Definition: generalized_clutch.cc:43
MBSim::GeneralizedClutch::calcgSize
void calcgSize(int j) override
calculates size of relative distances
Definition: generalized_clutch.cc:177
MBSim::GeneralizedClutch::isSingleValued
bool isSingleValued() const override
asks the link if it contains single valued force laws that contribute to the right-hand side vector h
Definition: generalized_clutch.h:57
MBSim::GeneralizedClutch::plot
void plot() override
plots time dependent data
Definition: generalized_clutch.cc:130
MBSim::GeneralizedClutch::checkConstraintsForTermination
void checkConstraintsForTermination() override
verify underlying force laws concerning given tolerances
Definition: generalized_clutch.cc:381
MBSim::GeneralizedClutch::updaterFactors
void updaterFactors() override
update relaxation factors for contact equations
Definition: generalized_clutch.cc:325
MBSim::GeneralizedClutch::calcsvSize
void calcsvSize() override
calculates size of stopvector (root function for event driven integration)
Definition: generalized_clutch.cc:202
MBSim::GeneralizedClutch::calcrFactorSize
void calcrFactorSize(int j) override
calculates size of rfactors
Definition: generalized_clutch.cc:194
MBSim::GeneralizedClutch::solveImpactsFixpointSingle
void solveImpactsFixpointSingle() override
Definition: generalized_clutch.cc:364
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30