MBSim::RegularizedSpatialFriction Class Reference
Inheritance diagram for MBSim::RegularizedSpatialFriction:
Public Member Functions | |
| RegularizedSpatialFriction (Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=nullptr) | |
| int | getFrictionDirections () override |
| bool | isSticking (const fmatvec::Vec &s, double sTol) override |
 Public Member Functions inherited from MBSim::RegularizedFriction | |
| RegularizedFriction (Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=nullptr) | |
| void | init (Element::InitStage stage, const InitConfigSet &config) override |
| plots time series header More... | |
| bool | isSetValued () const override |
| void | initializeUsingXML (xercesc::DOMElement *element) override |
| fmatvec::Vec | operator() (const fmatvec::Vec &gd, double laN) override |
| fmatvec::Vec | dlaTdlaN (const fmatvec::Vec &gd) override |
| void | setFrictionForceFunction (Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_) |
| Set the friction force function for use in regularisized constitutive friction laws The first input parameter to the friction force function is gd. The second input parameter to the friction force function is laN. The return value is the force vector. | |
| 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 |
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::RegularizedFriction | |
| Function< fmatvec::Vec(fmatvec::Vec, double)> * | frictionForceFunc {nullptr} |
| 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 |
Member Function Documentation
◆ getFrictionDirections()
|
inlineoverridevirtual |
Implements MBSim::FrictionForceLaw.
◆ isSticking()
|
inlineoverridevirtual |
Implements MBSim::FrictionForceLaw.
The documentation for this class was generated from the following file:
- /mbsim-env/mbsim/kernel/mbsim/constitutive_laws/regularized_spatial_friction.h