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linear_regularized_stribeck_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
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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_STRIBECK_FRICTION_H_
21 #define _LINEAR_REGULARIZED_STRIBECK_FRICTION_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
34  class LinearRegularizedStribeckFriction : public Function<fmatvec::Vec(fmatvec::Vec,double)> {
35  public:
40 
46  LinearRegularizedStribeckFriction(Function<double(double)> *fmu_, double gdLim_=0.01) : fmu(fmu_), gdLim(gdLim_) {
47  fmu->setParent(this);
48  }
49 
50  /* INHERITED INTERFACE OF FUNCTION2 */
51  virtual fmatvec::Vec operator()(const fmatvec::Vec &gd, const double& laN);
52  virtual void initializeUsingXML(xercesc::DOMElement *element);
53  virtual void init(Element::InitStage stage) {
55  fmu->init(stage);
56  }
57  /***************************************************/
58 
59  /* GETTER / SETTER */
60  void setFrictionFunction(Function<double(double)> *fmu_) {
61  fmu=fmu_;
62  fmu->setParent(this);
63  fmu->setName("Friction");
64  }
65  void setMarginalVelocity(double gdLim_) { gdLim=gdLim_; }
66  /***************************************************/
67 
68  protected:
73 
77  double gdLim;
78  };
79 
80 }
81 
82 #endif
function describing a linear regularized relationship between the input relative velocity and the out...
Definition: linear_regularized_stribeck_friction.h:34
Function< double(double)> * fmu
friction coefficient function
Definition: linear_regularized_stribeck_friction.h:72
LinearRegularizedStribeckFriction(Function< double(double)> *fmu_, double gdLim_=0.01)
constructor
Definition: linear_regularized_stribeck_friction.h:46
double gdLim
border with respect to the relative velocity for the linear regularized increase of the friction forc...
Definition: linear_regularized_stribeck_friction.h:77
LinearRegularizedStribeckFriction()
constructor
Definition: linear_regularized_stribeck_friction.h:39
InitStage
The stages of the initialization.
Definition: element.h:97
Definition: planar_contour.h:31
virtual void init(Element::InitStage stage)
plots time series header
Definition: linear_regularized_stribeck_friction.h:53
virtual void init(InitStage stage)
plots time series header
Definition: element.cc:70
void setName(const std::string &str)
Definition: element.h:163

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