20 #ifndef _SPATIAL_STRIBECK_FRICTION_H_
21 #define _SPATIAL_STRIBECK_FRICTION_H_
23 #include <mbsim/constitutive_laws/friction_force_law.h>
39 if(
fmu)
fmu->setParent(
this);
58 virtual int getFrictionDirections() {
return 2; }
59 virtual bool isSticking(
const fmatvec::Vec& s,
double sTol) {
return nrm2(s(0,1)) <= sTol; }
60 virtual double getFrictionCoefficient(
double gd) {
return (*
fmu)(gd); }
61 virtual bool isSetValued()
const {
return true; }
62 virtual void initializeUsingXML(xercesc::DOMElement *element);
63 virtual std::string
getType()
const {
return "SpatialStribeckFriction"; }
66 void setFrictionFunction(
Function<
double(
double)> *fmu_) {
68 if(
fmu)
fmu->setParent(
this);
virtual std::string getType() const
Definition: spatial_stribeck_friction.h:63
virtual ~SpatialStribeckFriction()
destructor
Definition: spatial_stribeck_friction.h:45
spatial Stribeck friction force law on acceleration level for constraint description ...
Definition: spatial_stribeck_friction.h:33
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
void init(Element::InitStage stage)
plots time series header
Definition: spatial_stribeck_friction.h:47
Function< double(double)> * fmu
Definition: spatial_stribeck_friction.h:75
virtual void init(InitStage stage)
plots time series header
Definition: element.cc:70
SpatialStribeckFriction(Function< double(double)> *fmu_=NULL)
constructor
Definition: spatial_stribeck_friction.h:38
void init(Element::InitStage stage)
plots time series header
Definition: friction_force_law.h:47