mbsim 4.0.0 MBSim Kernel

damping_functions.h
1 /* Copyright (C) 2004-2012 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 NUMERICS_DAMPINGFUNCITONS_H_
21 #define NUMERICS_DAMPINGFUNCITONS_H_
22
23 #include <mbsim/numerics/functions/criteria_functions.h>
24
25 namespace MBSim {
26
27 class DampingFunction : public Function<double(fmatvec::Vec,fmatvec::Vec)> {
28 public:
32 DampingFunction();
33
34 /*
35 * \brief destructor
36 */
37 ~DampingFunction() override = default;
38
39 /* GETTER / SETTER*/
40 void setFunction(Function<fmatvec::Vec(fmatvec::Vec)> * function_) {
41 function = function_;
42 }
43 void setCriteriaFunction(CriteriaFunction * criteria_) {
44 criteria = criteria_;
45 }
46 /******************/
47
48 double operator ()(const fmatvec::Vec & x, const fmatvec::Vec & dx) override = 0;
49
50 protected:
54 Function<fmatvec::Vec(fmatvec::Vec)> *function{nullptr};
55
59 CriteriaFunction * criteria{nullptr};
60
61 };
62
63 class StandardDampingFunction : public DampingFunction {
64
65 public:
69 StandardDampingFunction(unsigned int kmax_ = 10, double d_ = 0.5);
70
71 /*
72 * \brief destructor
73 */
74 ~StandardDampingFunction() override = default;
75
76 double operator ()(const fmatvec::Vec &x, const fmatvec::Vec &dx) override;
77
78 void setMaximalDampingSteps(unsigned int k_) {
79 kmax = k_;
80 }
81
82 void setDampingNumber(double d_) {
83 d = d_;
84 }
85
86 protected:
90 unsigned int kmax;
91
95 double d;
96 };
97 }
98 #endif //NUMERICS_DAMPINGFUNCITONS_H_
MBSim::StandardDampingFunction::d
double d
damping number
Definition: damping_functions.h:95
MBSim::StandardDampingFunction::StandardDampingFunction
StandardDampingFunction(unsigned int kmax_=10, double d_=0.5)
constructor
Definition: damping_functions.cc:32
MBSim::StandardDampingFunction::kmax
unsigned int kmax
maximal damping steps
Definition: damping_functions.h:90
MBSim::DampingFunction::criteria
CriteriaFunction * criteria
criteria that defines if a solution gets better
Definition: damping_functions.h:59
MBSim::CriteriaFunction
Mother class for different criterias that are fulfilled or not.
Definition: criteria_functions.h:33
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::DampingFunction
Definition: damping_functions.h:27
MBSim::StandardDampingFunction
Definition: damping_functions.h:63
MBSim::DampingFunction::DampingFunction
DampingFunction()
constructor
Definition: damping_functions.cc:28
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30