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spatial_stribeck_friction.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
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: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _SPATIAL_STRIBECK_FRICTION_H_
21 #define _SPATIAL_STRIBECK_FRICTION_H_
22 
23 #include <mbsim/constitutive_laws/friction_force_law.h>
24 
25 namespace MBSim {
26 
34  public:
38  SpatialStribeckFriction(Function<double(double)> *fmu_=NULL) : fmu(fmu_) {
39  if(fmu) fmu->setParent(this);
40  }
41 
45  virtual ~SpatialStribeckFriction() { if(fmu) delete fmu; fmu=0; }
46 
47  void init(Element::InitStage stage) {
49  fmu->init(stage);
50  }
51 
52  /* INHERITED INTERFACE */
53  virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r);
54  virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double r);
55  virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, double laN);
56  virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, double laN, double tolla, double tolgd);
57  virtual fmatvec::Vec dlaTdlaN(const fmatvec::Vec& gd);
58  virtual int getFrictionDirections() { return 2; }
59  virtual bool isSticking(const fmatvec::Vec& s, double sTol) { return nrm2(s(0,1)) <= sTol; }
60  virtual double getFrictionCoefficient(double gd) { return (*fmu)(gd); }
61  virtual bool isSetValued() const { return true; }
62  virtual void initializeUsingXML(xercesc::DOMElement *element);
63  virtual std::string getType() const { return "SpatialStribeckFriction"; }
64  /***************************************************/
65 
66  void setFrictionFunction(Function<double(double)> *fmu_) {
67  fmu = fmu_;
68  if(fmu) fmu->setParent(this);
69  }
70 
71  protected:
76  };
77 
78 }
79 
80 #endif
virtual std::string getType() const
Definition: spatial_stribeck_friction.h:63
virtual ~SpatialStribeckFriction()
destructor
Definition: spatial_stribeck_friction.h:45
spatial Stribeck friction force law on acceleration level for constraint description ...
Definition: spatial_stribeck_friction.h:33
InitStage
The stages of the initialization.
Definition: element.h:97
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
Definition: planar_contour.h:31
void init(Element::InitStage stage)
plots time series header
Definition: spatial_stribeck_friction.h:47
Function< double(double)> * fmu
Definition: spatial_stribeck_friction.h:75
virtual void init(InitStage stage)
plots time series header
Definition: element.cc:70
SpatialStribeckFriction(Function< double(double)> *fmu_=NULL)
constructor
Definition: spatial_stribeck_friction.h:38
void init(Element::InitStage stage)
plots time series header
Definition: friction_force_law.h:47

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