basic bilateral force law on acceleration level for constraint description More...

#include <bilateral_constraint.h>

Inheritance diagram for MBSim::BilateralConstraint:

Public Member Functions
	BilateralConstraint ()=default
	constructor

	~BilateralConstraint () override=default
	destructor

bool	isClosed (double g, double gTol) override
	decides, if force law is active More...

double	project (double la, double gdn, double r, double laMin=0) override
	prox function evaluation More...

fmatvec::Vec	diff (double la, double gdn, double r, double laMin=0) override

double	solve (double G, double gdn) override

bool	isFulfilled (double la, double gdn, double tolla, double gdTol, double laMin=0) override

bool	isSetValued () const override

GeneralizedImpactLaw *	createGeneralizedImpactLaw () const override

Public Member Functions inherited from MBSim::GeneralizedForceLaw
	GeneralizedForceLaw ()
	constructor

	~GeneralizedForceLaw () override=default
	destructor

virtual bool	isClosed (double g, double gTol)
	decides, if force law is active More...

virtual double	project (double la, double gdn, double r, double laMin=0)
	prox function evaluation More...

virtual fmatvec::Vec	diff (double la, double gdn, double r, double laMin=0)

virtual double	solve (double G, double gdn)

virtual double	operator() (double g, double gd)

virtual bool	isFulfilled (double la, double gdn, double tolla, double tolgd, double laMin=0)

virtual bool	isSetValued () const =0

virtual GeneralizedImpactLaw *	createGeneralizedImpactLaw () const

Public Member Functions inherited from MBSim::Element
	Element (const std::string &name)
	constructor

	~Element () override=default
	destructor

void	throwError (const std::string &msg) const

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)
	sets the used dynamics system solver to the element More...

virtual void	plot ()
	plots time dependent data More...

virtual void	plotAtSpecialEvent ()
	plots time dependent data at special events More...

const std::string &	getName () const

void	setName (const std::string &str)

void	setPath (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())
	plots time series header More...

virtual void	createPlotGroup ()
	creates the plotGroup for H5-output More...

H5::GroupBase *	getPlotGroup ()

virtual H5::GroupBase *	getFramesPlotGroup ()

virtual H5::GroupBase *	getContoursPlotGroup ()

virtual H5::GroupBase *	getGroupsPlotGroup ()

virtual H5::GroupBase *	getObjectsPlotGroup ()

virtual H5::GroupBase *	getLinksPlotGroup ()

virtual H5::GroupBase *	getConstraintsPlotGroup ()

virtual H5::GroupBase *	getObserversPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)
	Set a plot feature. More...

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for the children of this object. More...

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for this object and the children of this object. More...

template<class T >
void	setPlotAttribute (const std::string &name, const T &value)
	Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.

void	setPlotAttribute (const std::string &name)

virtual void	initializeUsingXML (xercesc::DOMElement *element)

template<class T >
T *	getByPath (const std::string &path, bool initialCaller=true) const
	Get the object of type T represented by the path path. Do not set any argurment other than path!

std::string	getPath (const Element *relTo=nullptr, std::string sep="/") const
	Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const
	Get the Element named name in the container named container. More...

virtual std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getGroupsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObjectsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getConstraintsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObserversOpenMBVGrp ()

virtual Element *	getParent ()

virtual const Element *	getParent () const

virtual void	setParent (Element *parent_)

std::vector< Element * >	getDependencies () const
	checks dependency on other elements. More...

void	addDependency (Element *ele)

int	computeLevel ()
	computes the length of the pathes in the graph that represents the dependencies between all elements. More...

virtual void	updatePositions (Frame *frame)

virtual void	updateVelocities (Frame *frame)

virtual void	updateAccelerations (Frame *frame)

virtual void	updateJacobians (Frame *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame *frame)

virtual void	resetUpToDate ()

const double &	getTime () const

double	getStepSize () const

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Additional Inherited Members
Public Types inherited from MBSim::Element
enum	InitStage { resolveStringRef =0 , preInit , plotting , unknownStage , LASTINITSTAGE }
	The stages of the initialization. More...

Protected Member Functions inherited from MBSim::Element
void	updatePlotFeatures ()

void	addToPlot (const std::string &name)

void	addToPlot (const std::string &name, int size)

void	addToPlot (const std::string &name, const std::vector< std::string > &iname)

template<class AT >
void	plot (const AT &x)

template<class Type , class AT >
void	plot (const fmatvec::Vector< Type, AT > &x)

Protected Attributes inherited from MBSim::Element
Element *	parent { nullptr }

std::string	name
	name of element

std::string	path
	The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

DynamicSystemSolver *	ds { nullptr }
	dynamic system

H5::VectorSerie< double > *	plotVectorSerie { nullptr }
	time series

std::vector< double >	plotVector
	one entry of time series

std::vector< std::string >	plotColumns
	columns of time series

H5::GroupBase *	plotGroup { nullptr }
	associated plot group

std::vector< Element * >	dependency
	vector containing all dependencies.

PlotFeatureMap	plotFeature
	plot feature

PlotFeatureMap	plotFeatureForChildren

std::map< std::string, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > >	plotAttribute

Detailed Description

basic bilateral force law on acceleration level for constraint description

Author: Martin Foerg

Date: 2009-07-29 some comments (Thorsten Schindler); 2010-07-06 isSticking added for impact laws (Robert Huber)

Member Function Documentation

◆ createGeneralizedImpactLaw()

GeneralizedImpactLaw * MBSim::BilateralConstraint::createGeneralizedImpactLaw ( ) const

overridevirtual

Reimplemented from MBSim::GeneralizedForceLaw.

◆ diff()

Vec MBSim::BilateralConstraint::diff	(	double	la,
		double	gdn,
		double	r,
		double	laMin = `0`
	)

overridevirtual

Reimplemented from MBSim::GeneralizedForceLaw.

◆ isClosed()

bool MBSim::BilateralConstraint::isClosed	(	double	g,
		double	gTol
	)

inlineoverridevirtual

decides, if force law is active

Parameters

gap	distance
tolerance

Returns: flag, if force law is active

Reimplemented from MBSim::GeneralizedForceLaw.

◆ isFulfilled()

bool MBSim::BilateralConstraint::isFulfilled	(	double	la,
		double	gdn,
		double	tolla,
		double	tolgd,
		double	laMin = `0`
	)

overridevirtual

Parameters

contact	force parameter
contact	relative velocity
tolerance	for contact force parameters
tolerance	for relative velocity

Returns: flag if the force law is valid given the parameters

Reimplemented from MBSim::GeneralizedForceLaw.

◆ isSetValued()

bool MBSim::BilateralConstraint::isSetValued ( ) const

inlineoverridevirtual

Returns: flag if the force law is setvalued

Implements MBSim::GeneralizedForceLaw.

◆ project()

double MBSim::BilateralConstraint::project	(	double	la,
		double	gdn,
		double	r,
		double	laMin = `0`
	)

overridevirtual

prox function evaluation

Parameters

kinetic	variable
kinematic	variable
relaxation	factor
minimal	threshold for kinetic variable

Returns: result of prox function evaluation

Reimplemented from MBSim::GeneralizedForceLaw.

◆ solve()

double MBSim::BilateralConstraint::solve	(	double	G,
		double	gdn
	)

overridevirtual

Reimplemented from MBSim::GeneralizedForceLaw.

The documentation for this class was generated from the following files:

/mbsim-env/mbsim/kernel/mbsim/constitutive_laws/bilateral_constraint.h
/mbsim-env/mbsim/kernel/mbsim/constitutive_laws/bilateral_constraint.cc

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createGeneralizedImpactLaw()

◆ diff()

◆ isClosed()

◆ isFulfilled()

◆ isSetValued()

◆ project()

◆ solve()