basic planar friction force law on acceleration level for constraint description More...

#include <planar_coulomb_friction.h>

Inheritance diagram for MBSim::PlanarCoulombFriction:

Public Member Functions
	PlanarCoulombFriction (double mu_=0)
	constructor

	~PlanarCoulombFriction () override=default
	destructor

fmatvec::Vec	project (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r) override

fmatvec::Mat	diff (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r) override

fmatvec::Vec	solve (const fmatvec::SqrMat &G, const fmatvec::Vec &gdn, double laN) override

bool	isFulfilled (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double laTol, double gdTol) override

fmatvec::Vec	dlaTdlaN (const fmatvec::Vec &gd) override

int	getFrictionDirections () override

bool	isSticking (const fmatvec::Vec &s, double sTol) override

bool	isSetValued () const override

void	initializeUsingXML (xercesc::DOMElement *element) override

FrictionImpactLaw *	createFrictionImpactLaw () const override

void	setFrictionCoefficient (double mu_)

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

	~FrictionForceLaw () override=default
	destructor

virtual fmatvec::Vec	project (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r)

virtual fmatvec::Mat	diff (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double r)

virtual fmatvec::Vec	solve (const fmatvec::SqrMat &G, const fmatvec::Vec &gdn, double laN)

virtual bool	isFulfilled (const fmatvec::Vec &la, const fmatvec::Vec &gdn, double laN, double tolla, double tolgd)

virtual fmatvec::Vec	operator() (const fmatvec::Vec &gd, double laN)

virtual fmatvec::Vec	dlaTdlaN (const fmatvec::Vec &gd)

virtual int	getFrictionDirections ()=0

virtual bool	isSticking (const fmatvec::Vec &s, double sTol)=0

virtual bool	isSetValued () const =0

virtual FrictionImpactLaw *	createFrictionImpactLaw () 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

Protected Attributes
double	mu

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

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)

Detailed Description

basic planar friction force law on acceleration level for constraint description

Author: Martin Foerg

Date: 2009-07-29 some comments (Thorsten Schindler)

Member Function Documentation

◆ createFrictionImpactLaw()

FrictionImpactLaw * MBSim::PlanarCoulombFriction::createFrictionImpactLaw ( ) const

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

◆ diff()

Mat MBSim::PlanarCoulombFriction::diff	(	const fmatvec::Vec &	la,
		const fmatvec::Vec &	gdn,
		double	laN,
		double	r
	)

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

◆ dlaTdlaN()

Vec MBSim::PlanarCoulombFriction::dlaTdlaN ( const fmatvec::Vec & gd )

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

◆ getFrictionDirections()

int MBSim::PlanarCoulombFriction::getFrictionDirections ( )

inlineoverridevirtual

Implements MBSim::FrictionForceLaw.

◆ initializeUsingXML()

void MBSim::PlanarCoulombFriction::initializeUsingXML ( xercesc::DOMElement * element )

overridevirtual

Reimplemented from MBSim::Element.

◆ isFulfilled()

bool MBSim::PlanarCoulombFriction::isFulfilled	(	const fmatvec::Vec &	la,
		const fmatvec::Vec &	gdn,
		double	laN,
		double	laTol,
		double	gdTol
	)

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

◆ isSetValued()

bool MBSim::PlanarCoulombFriction::isSetValued ( ) const

inlineoverridevirtual

Implements MBSim::FrictionForceLaw.

◆ isSticking()

bool MBSim::PlanarCoulombFriction::isSticking	(	const fmatvec::Vec &	s,
		double	sTol
	)

inlineoverridevirtual

Implements MBSim::FrictionForceLaw.

◆ project()

Vec MBSim::PlanarCoulombFriction::project	(	const fmatvec::Vec &	la,
		const fmatvec::Vec &	gdn,
		double	laN,
		double	r
	)

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

◆ solve()

Vec MBSim::PlanarCoulombFriction::solve	(	const fmatvec::SqrMat &	G,
		const fmatvec::Vec &	gdn,
		double	laN
	)

overridevirtual

Reimplemented from MBSim::FrictionForceLaw.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ createFrictionImpactLaw()

◆ diff()

◆ dlaTdlaN()

◆ getFrictionDirections()

◆ initializeUsingXML()

◆ isFulfilled()

◆ isSetValued()

◆ isSticking()

◆ project()

◆ solve()