planar Stribeck friction force law on acceleration level for constraint description More...
#include <constitutive_laws.h>
Public Member Functions | |
PlanarStribeckFriction (Function< double(double)> *fmu_=NULL) | |
constructor | |
virtual | ~PlanarStribeckFriction () |
destructor | |
void | init (Element::InitStage stage) |
plots time series header More... | |
virtual fmatvec::Vec | project (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r) |
virtual fmatvec::Mat | diff (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r) |
virtual fmatvec::Vec | solve (const fmatvec::SqrMat &G, const fmatvec::Vec &gdn, double laN) |
virtual bool | isFulfilled (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double tolla, double tolgd) |
virtual fmatvec::Vec | dlaTdlaN (const fmatvec::Vec &gd, double laN) |
virtual int | getFrictionDirections () |
virtual bool | isSticking (const fmatvec::Vec &s, double sTol) |
virtual double | getFrictionCoefficient (double gd) |
virtual bool | isSetValued () const |
virtual void | initializeUsingXML (xercesc::DOMElement *element) |
virtual std::string | getType () const |
void | setFrictionFunction (Function< double(double)> *fmu_) |
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FrictionForceLaw (Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=NULL) | |
constructor | |
virtual | ~FrictionForceLaw () |
destructor | |
virtual xercesc::DOMElement * | writeXMLFile (xercesc::DOMNode *parent) |
fmatvec::Vec | operator() (const fmatvec::Vec &gd, double laN) |
void | setFrictionForceFunction (Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_) |
Set the friction force function for use in regularisized constitutive friction laws The first input parameter to the friction force function is gd. The second input parameter to the friction force function is laN. The return value is the force vector. | |
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Element (const std::string &name) | |
constructor | |
virtual | ~Element () |
destructor | |
virtual void | initDataInterfaceBase (DynamicSystemSolver *parentds) |
TODO. | |
virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
sets the used dynamics system solver to the element More... | |
virtual void | plot (double t, double dt=1) |
plots time dependent data More... | |
virtual void | plotAtSpecialEvent (double t, double dt=1) |
plots time dependent data at special events More... | |
virtual void | closePlot () |
closes plot file | |
const std::string & | getName () const |
void | setName (const std::string &str) |
void | setPath (const std::string &str) |
DynamicSystemSolver * | getDynamicSystemSolver () |
virtual void | createPlotGroup () |
creates the plotGroup for H5-output | |
H5::GroupBase * | getPlotGroup () |
virtual void | setPlotFeature (PlotFeature pf, PlotFeatureStatus value) |
Set a plot feature. More... | |
void | setPlotFeatureForChildren (PlotFeature pf, PlotFeatureStatus value) |
Set a plot feature for the children of this object. More... | |
void | setPlotFeatureRecursive (PlotFeature pf, PlotFeatureStatus value) |
Set a plot feature for this object and the children of this object. More... | |
PlotFeatureStatus | getPlotFeature (PlotFeature pf) |
PlotFeatureStatus | getPlotFeatureForChildren (PlotFeature pf) |
const std::vector < MBXMLUtils::EmbedDOMLocator > & | getLocationStack () const |
template<class T > | |
T * | getByPath (const std::string &path, bool initialCaller=true) const |
Get the object of type T represented by the path path. Do not set any argurment other than path! | |
std::string | getPath (const Element *relTo=NULL, std::string sep="/") const |
Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep! | |
virtual Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const |
Get the Element named name in the container named container. | |
virtual Element * | getParent () |
virtual const Element * | getParent () const |
virtual void | setParent (Element *parent_) |
std::vector< Element * > | getElementsDependingOn () const |
checks dependency on other elements. More... | |
void | addDependency (Element *ele) |
int | computeLevel () |
computes the length of the pathes in the graph that represents the dependencies between all elements. More... | |
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Atom & | operator= (const Atom &) |
void | setMessageStreamActive (MsgType type, bool active) |
void | getMessageStream (MsgType type, boost::shared_ptr< bool > &a, boost::shared_ptr< std::ostream > &s) |
void | adoptMessageStreams (const Atom *src=NULL) |
std::ostream & | msg (MsgType type) |
bool | msgAct (MsgType type) |
Protected Attributes | |
Function< double(double)> * | fmu |
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Function< fmatvec::Vec(fmatvec::Vec, double)> * | frictionForceFunc |
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Element * | parent |
std::string | name |
name of element | |
std::string | path |
The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value. | |
std::vector < MBXMLUtils::EmbedDOMLocator > | locationStack |
DynamicSystemSolver * | ds |
dynamic system | |
H5::VectorSerie< double > * | plotVectorSerie |
time series | |
std::vector< double > | plotVector |
one entry of time series | |
std::vector< std::string > | plotColumns |
columns of time series | |
H5::GroupBase * | plotGroup |
associated plot group | |
std::vector< Element * > | dependency |
vector containing all dependencies. | |
Additional Inherited Members | |
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enum | PlotFeatureStatus { enabled, disabled, unset } |
Plot feature status. More... | |
enum | PlotFeature { plotRecursive =0, separateFilePerGroup, state, stateDerivative, notMinimalState, rightHandSide, globalPosition, globalVelocity, globalAcceleration, energy, openMBV, generalizedLinkForce, linkKinematics, stopVector, debug, LASTPLOTFEATURE } |
Plot Features. More... | |
enum | InitStage { modelBuildup =0, resolveXMLPath, preInit, resize, relativeFrameContourLocation, worldFrameContourLocation, plotting, reorganizeHierarchy, unknownStage, calculateLocalInitialValues, LASTINITSTAGE } |
The stages of the initialization. More... | |
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enum | MsgType |
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static double | getDouble (xercesc::DOMElement *e) |
static int | getInt (xercesc::DOMElement *e) |
static bool | getBool (xercesc::DOMElement *e) |
static fmatvec::Vec3 | getVec3 (xercesc::DOMElement *e) |
static fmatvec::Vec | getVec (xercesc::DOMElement *e, int rows=0) |
static fmatvec::Mat3xV | getMat3xV (xercesc::DOMElement *e, int cols=0) |
static fmatvec::Mat | getMat (xercesc::DOMElement *e, int rows=0, int cols=0) |
static fmatvec::SqrMat3 | getSqrMat3 (xercesc::DOMElement *e) |
static fmatvec::SqrMat | getSqrMat (xercesc::DOMElement *e, int size=0) |
static fmatvec::SymMat3 | getSymMat3 (xercesc::DOMElement *e) |
static fmatvec::SymMat | getSymMat (xercesc::DOMElement *e, int size=0) |
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static void | setCurrentMessageStream (MsgType type, const boost::shared_ptr< bool > &a=boost::make_shared< bool >(true), const boost::shared_ptr< std::ostream > &s=boost::make_shared< std::ostream >(std::cout.rdbuf())) |
static std::ostream & | msgStatic (MsgType type) |
static bool | msgActStatic (MsgType type) |
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void | updatePlotFeatures () |
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Atom (const Atom &src) | |
planar Stribeck friction force law on acceleration level for constraint description
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inlinevirtual |
Reimplemented from MBSim::FrictionForceLaw.
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inlinevirtual |
plots time series header
invocing | parent class |
Reimplemented from MBSim::FrictionForceLaw.
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protected |
friction coefficient function