All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Pages
friction_force_law.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 _FRICTION_FORCE_LAW_H_
21 #define _FRICTION_FORCE_LAW_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
32  class FrictionForceLaw : public Element {
33  public:
37  FrictionForceLaw(Function<fmatvec::Vec(fmatvec::Vec,double)> *frictionForceFunc_=NULL) : Element(uniqueDummyName(this)), frictionForceFunc(frictionForceFunc_) {
38  if(frictionForceFunc)
39  frictionForceFunc->setParent(this);
40  }
41 
45  virtual ~FrictionForceLaw() { if(frictionForceFunc) delete frictionForceFunc; frictionForceFunc = NULL; };
46 
47  void init(Element::InitStage stage) {
48  Element::init(stage);
49  if(frictionForceFunc)
50  frictionForceFunc->init(stage);
51  }
52 
53  /* INTERFACE FOR DERIVED CLASSES */
54  virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r) { return fmatvec::Vec(2); }
55  virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r) { return fmatvec::Mat(2,2); }
56  virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, double laN) { return fmatvec::Vec(2); }
57  virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double tolla, double tolgd) { return true; }
58  virtual fmatvec::Vec dlaTdlaN(const fmatvec::Vec& gd) {
59  THROW_MBSIMERROR("(FrictionForceLaw::dlaTdlaN): Not implemented.");
60  return 0;
61  }
62  virtual int getFrictionDirections() = 0;
63  virtual bool isSticking(const fmatvec::Vec& s, double sTol) = 0;
64  virtual double getFrictionCoefficient(double gd) { return 0; }
65  virtual bool isSetValued() const = 0;
66  virtual void initializeUsingXML(xercesc::DOMElement *element) {}
67 
71  virtual std::string getType() const { return "FrictionForceLaw"; }
72  /***************************************************/
73 
74  fmatvec::Vec operator()(const fmatvec::Vec &gd, double laN) { assert(frictionForceFunc); return (*frictionForceFunc)(gd,laN); }
75 
81  void setFrictionForceFunction(Function<fmatvec::Vec(fmatvec::Vec,double)> *frictionForceFunc_) {
82  frictionForceFunc=frictionForceFunc_;
83  frictionForceFunc->setParent(this);
84  }
85 
86  protected:
88  };
89 
90 }
91 
92 #endif
void setFrictionForceFunction(Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_)
Set the friction force function for use in regularisized constitutive friction laws The first input p...
Definition: friction_force_law.h:81
virtual ~FrictionForceLaw()
destructor
Definition: friction_force_law.h:45
Vector< Ref, double > Vec
virtual std::string getType() const
Definition: friction_force_law.h:71
FrictionForceLaw(Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=NULL)
constructor
Definition: friction_force_law.h:37
basic class of MBSim mainly for plotting
Definition: element.h:58
Matrix< General, Ref, Ref, double > Mat
InitStage
The stages of the initialization.
Definition: element.h:97
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
Definition: planar_contour.h:31
virtual void init(InitStage stage)
plots time series header
Definition: element.cc:70
void init(Element::InitStage stage)
plots time series header
Definition: friction_force_law.h:47

Impressum / Disclaimer / Datenschutz Generated by doxygen 1.8.5 Valid HTML