basic unilateral force law on velocity level for constraint description More...

#include <unilateral_newton_impact.h>

Inheritance diagram for MBSim::UnilateralNewtonImpact:

Public Member Functions
	UnilateralNewtonImpact (double epsilon_=0)
	constructor

	UnilateralNewtonImpact (double epsilon_, double gd_limit_)
	constructor

	~UnilateralNewtonImpact () override=default
	destructor

double	project (double la, double gdn, double gda, double r, double laMin=0) override

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

double	solve (double G, double gdn, double gda) override

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

void	initializeUsingXML (xercesc::DOMElement *element) override

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

	~GeneralizedImpactLaw () override=default
	destructor

virtual double	project (double la, double gdn, double gda, double r, double laMin=0)=0

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

virtual double	solve (double G, double gdn, double gda)=0

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

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	epsilon

double	gd_limit {1e-2}

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 unilateral force law on velocity level for constraint description

Author: Martin Foerg

Date: 2009-07-29 some comments (Thorsten Schindler); 2010-08-18 epsilon is set to zero in a smooth way and elastic contribution only for negative gd

Member Function Documentation

◆ diff()

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

overridevirtual

Implements MBSim::GeneralizedImpactLaw.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::Element.

◆ isFulfilled()

bool MBSim::UnilateralNewtonImpact::isFulfilled	(	double	la,
		double	gdn,
		double	gda,
		double	laTol,
		double	gdTol,
		double	laMin = `0`
	)

overridevirtual

Implements MBSim::GeneralizedImpactLaw.

◆ project()

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

overridevirtual

Implements MBSim::GeneralizedImpactLaw.

◆ solve()

double MBSim::UnilateralNewtonImpact::solve	(	double	G,
		double	gdn,
		double	gda
	)

overridevirtual

Implements MBSim::GeneralizedImpactLaw.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ diff()

◆ initializeUsingXML()

◆ isFulfilled()

◆ project()

◆ solve()