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MBSim::PlanarStribeckImpact Class Reference

planar Stribeck friction force law on velocity level for constraint description More...

#include <constitutive_laws.h>

Inheritance diagram for MBSim::PlanarStribeckImpact:
MBSim::FrictionImpactLaw MBSim::Element fmatvec::Atom

Public Member Functions

 PlanarStribeckImpact (Function< double(double)> *fmu_=NULL)
 constructor
 
virtual ~PlanarStribeckImpact ()
 destructor
 
void init (Element::InitStage stage)
 plots time series header More...
 
virtual fmatvec::Vec project (const fmatvec::Vec &la, const fmatvec::Vec &gdn, const fmatvec::Vec &gda, double laN, double r)
 
virtual fmatvec::Mat diff (const fmatvec::Vec &la, const fmatvec::Vec &gdn, const fmatvec::Vec &gda, double laN, double r)
 
virtual fmatvec::Vec solve (const fmatvec::SqrMat &G, const fmatvec::Vec &gdn, const fmatvec::Vec &gda, double laN)
 
virtual bool isFulfilled (const fmatvec::Vec &la, const fmatvec::Vec &gdn, const fmatvec::Vec &gda, double laN, double tolla, double tolgd)
 
virtual int isSticking (const fmatvec::Vec &la, const fmatvec::Vec &gdn, const fmatvec::Vec &gda, double laN, double laTol, double gdTol)
 
virtual int getFrictionDirections ()
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual std::string getType () const
 
double getFrictionCoefficient (double gd)
 
void setFrictionFunction (Function< double(double)> *fmu_)
 
- Public Member Functions inherited from MBSim::FrictionImpactLaw
 FrictionImpactLaw ()
 constructor
 
virtual ~FrictionImpactLaw ()
 destructor
 
virtual xercesc::DOMElement * writeXMLFile (xercesc::DOMNode *parent)
 
- Public Member Functions inherited from MBSim::Element
 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)
 
DynamicSystemSolvergetDynamicSystemSolver ()
 
virtual void createPlotGroup ()
 creates the plotGroup for H5-output
 
H5::GroupBasegetPlotGroup ()
 
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 ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 Get the Element named name in the container named container.
 
virtual ElementgetParent ()
 
virtual const ElementgetParent () 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...
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (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
 
- Protected Attributes inherited from MBSim::Element
Elementparent
 
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
 
DynamicSystemSolverds
 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::GroupBaseplotGroup
 associated plot group
 
std::vector< Element * > dependency
 vector containing all dependencies.
 

Additional Inherited Members

- Public Types inherited from MBSim::Element
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...
 
- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from MBSim::Element
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)
 
- Static Public Member Functions inherited from fmatvec::Atom
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)
 
- Protected Member Functions inherited from MBSim::Element
void updatePlotFeatures ()
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Detailed Description

planar Stribeck friction force law on velocity level for constraint description

Author
Thorsten Schindler
Date
2009-09-02 initial commit (Thorsten Schindler)
Todo:
high oscillations in normal relative velocity TODO

Member Function Documentation

virtual std::string MBSim::PlanarStribeckImpact::getType ( ) const
inlinevirtual
Returns
std::string representation

Reimplemented from MBSim::FrictionImpactLaw.

void MBSim::PlanarStribeckImpact::init ( Element::InitStage  stage)
inlinevirtual

plots time series header

Parameters
invocingparent class

Reimplemented from MBSim::Element.

Member Data Documentation

Function<double(double)>* MBSim::PlanarStribeckImpact::fmu
protected

friction coefficient function


The documentation for this class was generated from the following files:

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