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linear_regularized_unilateral_constraint.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
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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
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17  * Contact: markus.ms.schneider@gmail.com
18  */
19 
20 #ifndef _LINEAR_REGULARIZED_UNILATERAL_CONSTRAINT_H_
21 #define _LINEAR_REGULARIZED_UNILATERAL_CONSTRAINT_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
33  class LinearRegularizedUnilateralConstraint: public Function<double(double,double)> {
34  public:
39 
45  LinearRegularizedUnilateralConstraint(double c_, double d_) : c(c_), d(d_) {}
46 
47  /* INHERITED INTERFACE OF FUNCTION2 */
48  virtual double operator()(const double& g, const double& gd) {
49  if(g>0)
50  return 0;
51  else if(gd<0)
52  return -c*g - d*gd;
53  else
54  return -c*g;
55  }
56  virtual void initializeUsingXML(xercesc::DOMElement *element);
57  /***************************************************/
58 
59  /* GETTER / SETTER */
60  void setParameter(double c_, double d_) { c=c_; d=d_; }
61  /***************************************************/
62 
63  private:
67  double c, d;
68  };
69 
70 }
71 
72 #endif
double c
stiffness, damping
Definition: linear_regularized_unilateral_constraint.h:67
LinearRegularizedUnilateralConstraint()
constructor
Definition: linear_regularized_unilateral_constraint.h:38
function describing a linear relationship between the input relative distance / velocity and the outp...
Definition: linear_regularized_unilateral_constraint.h:33
LinearRegularizedUnilateralConstraint(double c_, double d_)
constructor
Definition: linear_regularized_unilateral_constraint.h:45
Definition: planar_contour.h:31

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