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regularized_unilateral_constraint.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
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19 
20 #ifndef _REGULARIZED_UNILATERAL_CONSTRAINT_H_
21 #define _REGULARIZED_UNILATERAL_CONSTRAINT_H_
22 
23 #include <mbsim/constitutive_laws/generalized_force_law.h>
24 
25 namespace MBSim {
26 
33  public:
37  RegularizedUnilateralConstraint(Function<double(double,double)> *forceFunc_=NULL) : GeneralizedForceLaw(forceFunc_) { }
38 
43 
44  /* INHERITED INTERFACE */
45  virtual bool isClosed(double g, double gTol) { return g<=gTol; }
46  virtual bool remainsClosed(double s, double sTol) { return s<=sTol; }
47  virtual bool isSetValued() const { return false; }
48  /***************************************************/
49 
50  virtual void initializeUsingXML(xercesc::DOMElement *element);
51  };
52 
53 }
54 
55 #endif
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:32
virtual bool isClosed(double g, double gTol)
decides, if force law is active
Definition: regularized_unilateral_constraint.h:45
RegularizedUnilateralConstraint(Function< double(double, double)> *forceFunc_=NULL)
constructor
Definition: regularized_unilateral_constraint.h:37
basic regularized unilateral force law on acceleration level for constraint description ...
Definition: regularized_unilateral_constraint.h:32
Definition: planar_contour.h:31
virtual void initializeUsingXML(xercesc::DOMElement *element)
initialize the force law using XML
Definition: regularized_unilateral_constraint.cc:33
virtual bool isSetValued() const
Definition: regularized_unilateral_constraint.h:47
virtual ~RegularizedUnilateralConstraint()
destructor
Definition: regularized_unilateral_constraint.h:42

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