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linear_regularized_coulomb_friction.h
1 /* Copyright (C) 2004-2009 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: markus.ms.schneider@gmail.com
18  */
19 
20 #ifndef _LINEAR_REGULARIZED_COULOMB_FRICTION_H_
21 #define _LINEAR_REGULARIZED_COULOMB_FRICTION_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
34  class LinearRegularizedCoulombFriction : public Function<fmatvec::Vec(fmatvec::Vec,double)> {
35  public:
39  LinearRegularizedCoulombFriction() : mu(0), gdLim(0.01) {}
40 
46  LinearRegularizedCoulombFriction(double mu_, double gdLim_=0.01) : mu(mu_), gdLim(gdLim_) {}
47 
48  /* INHERITED INTERFACE OF FUNCTION2 */
49  virtual fmatvec::Vec operator()(const fmatvec::Vec &gd, const double& laN);
50  virtual void initializeUsingXML(xercesc::DOMElement *element);
51  /***************************************************/
52 
53  /* GETTER / SETTER */
54  void setFrictionCoefficient(double mu_) { mu=mu_; }
55  void setMarginalVelocity(double gdLim_) { gdLim=gdLim_; }
56  /***************************************************/
57 
58  protected:
62  double mu, gdLim;
63  };
64 
65 }
66 
67 #endif
function describing a linear regularized relationship between the input relative velocity and the out...
Definition: linear_regularized_coulomb_friction.h:34
LinearRegularizedCoulombFriction()
constructor
Definition: linear_regularized_coulomb_friction.h:39
double mu
friction coefficient, border with respect to the relative velocity for the linear regularized increas...
Definition: linear_regularized_coulomb_friction.h:62
Definition: planar_contour.h:31
LinearRegularizedCoulombFriction(double mu_, double gdLim_=0.01)
constructor
Definition: linear_regularized_coulomb_friction.h:46

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