20 #ifndef _LINEAR_REGULARIZED_BILATERAL_CONSTRAINT_H_
21 #define _LINEAR_REGULARIZED_BILATERAL_CONSTRAINT_H_
23 #include "mbsim/functions/function.h"
48 virtual double operator()(
const double& g,
const double& gd) {
51 virtual void initializeUsingXML(xercesc::DOMElement *element);
53 virtual std::string
getType()
const {
return "LinearRegularizedBilateralConstraint"; }
57 void setParameter(
double c_,
double d_) {
c=c_; d=d_; }
LinearRegularizedBilateralConstraint(double c_, double d_)
constructor
Definition: linear_regularized_bilateral_constraint.h:45
virtual std::string getType() const
Definition: linear_regularized_bilateral_constraint.h:53
function describing a linear relationship between the input relative distance / velocity and the outp...
Definition: linear_regularized_bilateral_constraint.h:33
Definition: planar_contour.h:31
LinearRegularizedBilateralConstraint()
constructor
Definition: linear_regularized_bilateral_constraint.h:38
double c
stiffness, damping
Definition: linear_regularized_bilateral_constraint.h:64