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bilateral_constraint.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2  *
3  * This library is free software; you can redistribute it and/or
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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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15  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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18  */
19 
20 #ifndef _BILATERAL_CONSTRAINT_H_
21 #define _BILATERAL_CONSTRAINT_H_
22 
23 #include <mbsim/constitutive_laws/generalized_force_law.h>
24 
25 namespace MBSim {
26 
34  public:
39 
43  virtual ~BilateralConstraint() { }
44 
45  /* INHERITED INTERFACE */
46  virtual bool isClosed(double g, double gTol) { return true; }
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  bool remainsClosed(double s, double sTol) { return true; }
55 
56  virtual std::string getType() const { return "BilateralConstraint"; }
57  };
58 
59 }
60 
61 #endif
basic force law on acceleration level for constraint description
Definition: generalized_force_law.h:32
virtual bool isSetValued() const
Definition: bilateral_constraint.h:51
virtual bool isClosed(double g, double gTol)
decides, if force law is active
Definition: bilateral_constraint.h:46
basic bilateral force law on acceleration level for constraint description
Definition: bilateral_constraint.h:33
virtual double project(double la, double gdn, double r, double laMin=0)
prox function evaluation
Definition: bilateral_constraint.cc:33
virtual ~BilateralConstraint()
destructor
Definition: bilateral_constraint.h:43
virtual bool isFulfilled(double la, double gdn, double tolla, double tolgd, double laMin=0)
Definition: bilateral_constraint.cc:48
BilateralConstraint()
constructor
Definition: bilateral_constraint.h:38
virtual std::string getType() const
Definition: bilateral_constraint.h:56

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