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planar_coulomb_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 _PLANAR_COULOMB_FRICTION_H_
21 #define _PLANAR_COULOMB_FRICTION_H_
22 
23 #include <mbsim/constitutive_laws/friction_force_law.h>
24 
25 namespace MBSim {
26 
33  public:
37  PlanarCoulombFriction(double mu_=0) : mu(mu_) { }
38 
42  virtual ~PlanarCoulombFriction() { }
43 
44  /* INHERITED INTERFACE */
45  virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r);
46  virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r);
47  virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, double laN);
48  virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double tolla, double tolgd);
49  virtual fmatvec::Vec dlaTdlaN(const fmatvec::Vec& gd);
50  virtual int getFrictionDirections() { return 1; }
51  virtual bool isSticking(const fmatvec::Vec& s, double sTol) { return fabs(s(0)) <= sTol; }
52  virtual double getFrictionCoefficient(double gd) { return mu; }
53  virtual bool isSetValued() const { return true; }
54  virtual void initializeUsingXML(xercesc::DOMElement *element);
55  virtual std::string getType() const { return "PlanarCoulombFriction"; }
56  /***************************************************/
57 
58  void setFrictionCoefficient(double mu_) { mu = mu_; }
59 
60  protected:
61  double mu;
62  };
63 
64 }
65 
66 #endif
basic planar friction force law on acceleration level for constraint description
Definition: planar_coulomb_friction.h:32
virtual ~PlanarCoulombFriction()
destructor
Definition: planar_coulomb_friction.h:42
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
virtual std::string getType() const
Definition: planar_coulomb_friction.h:55
PlanarCoulombFriction(double mu_=0)
constructor
Definition: planar_coulomb_friction.h:37

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