mbsim 4.0.0 MBSim Kernel

regularized_planar_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 _REGULARIZED_PLANAR_FRICTION_H_
21 #define _REGULARIZED_PLANAR_FRICTION_H_
22
23 #include <mbsim/constitutive_laws/regularized_friction.h>
24
25 namespace MBSim {
26
27 class RegularizedPlanarFriction : public RegularizedFriction {
28 public:
29 RegularizedPlanarFriction(Function<fmatvec::Vec(fmatvec::Vec,double)> *frictionForceFunc_=nullptr) : RegularizedFriction(frictionForceFunc_) { }
30 ~RegularizedPlanarFriction() override = default;
31 int getFrictionDirections() override { return 1; }
32 bool isSticking(const fmatvec::Vec& s, double sTol) override { return fabs(s(0)) <= sTol; }
33 };
34
35 }
36
37 #endif
MBSim::RegularizedFriction
basic regularized friction force law on acceleration level for constraint description
Definition: regularized_friction.h:31
MBSim::RegularizedPlanarFriction
Definition: regularized_planar_friction.h:27
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30