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unilateral_constraint.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
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11  * Lesser General Public License for more details.
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18  */
19 
20 #ifndef _UNILATERAL_CONSTRAINT_H_
21 #define _UNILATERAL_CONSTRAINT_H_
22 
23 #include <mbsim/constitutive_laws/generalized_force_law.h>
24 
25 namespace MBSim {
26 
33  public:
38 
42  virtual ~UnilateralConstraint() { }
43 
44  /* INHERITED INTERFACE */
45  virtual bool isClosed(double g, double gTol) { return g<=gTol; }
46  virtual bool remainsClosed(double gd, double gdTol) { return gd<=gdTol; }
47  virtual double project(double la, double gdn, double r, double laMin=0);
48  virtual fmatvec::Vec diff(double la, double gdn, double r, double laMin=0);
49  virtual double solve(double G, double gdn);
50  virtual bool isFulfilled(double la, double gdn, double tolla, double tolgd, double laMin=0);
51  virtual bool isSetValued() const { return true; }
52  /***************************************************/
53 
54  virtual std::string getType() const { return "UnilateralConstraint"; }
55  };
56 
57 }
58 
59 #endif
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:32
virtual ~UnilateralConstraint()
destructor
Definition: unilateral_constraint.h:42
virtual bool isSetValued() const
Definition: unilateral_constraint.h:51
virtual double project(double la, double gdn, double r, double laMin=0)
prox function evaluation
Definition: unilateral_constraint.cc:34
virtual bool isClosed(double g, double gTol)
decides, if force law is active
Definition: unilateral_constraint.h:45
UnilateralConstraint()
constructor
Definition: unilateral_constraint.h:37
basic unilateral force law on acceleration level for constraint description
Definition: unilateral_constraint.h:32
virtual bool isFulfilled(double la, double gdn, double tolla, double tolgd, double laMin=0)
Definition: unilateral_constraint.cc:56
virtual std::string getType() const
Definition: unilateral_constraint.h:54

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