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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/friction_force_law.h>
24 
25 namespace MBSim {
26 
28  public:
29  RegularizedPlanarFriction(Function<fmatvec::Vec(fmatvec::Vec,double)> *frictionForceFunc_=NULL) : FrictionForceLaw(frictionForceFunc_) { }
30  virtual ~RegularizedPlanarFriction() {}
31  int getFrictionDirections() { return 1; }
32  bool isSticking(const fmatvec::Vec& s, double sTol) { return fabs(s(0)) <= sTol; }
33  bool isSetValued() const { return false; }
34  virtual void initializeUsingXML(xercesc::DOMElement *element);
35  };
36 
37 }
38 
39 #endif
FrictionForceLaw(Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=NULL)
constructor
Definition: friction_force_law.h:37
Definition: regularized_planar_friction.h:27
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
Definition: planar_contour.h:31

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