linear_regularized_stribeck_friction.h

/* Copyright (C) 2004-2009 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: markus.ms.schneider@gmail.com
 */
 
#ifndef _LINEAR_REGULARIZED_STRIBECK_FRICTION_H_
#define _LINEAR_REGULARIZED_STRIBECK_FRICTION_H_
 
#include "mbsim/functions/function.h"
 
namespace MBSim {
 
  class LinearRegularizedStribeckFriction : public Function<fmatvec::Vec(fmatvec::Vec,double)> {
    public:
      LinearRegularizedStribeckFriction() : fmu(nullptr) {}
 
      LinearRegularizedStribeckFriction(Function<double(double)> *fmu_, double gdLim_=0.01) : fmu(fmu_), gdLim(gdLim_) {
        fmu->setParent(this);
      }
 
      /* INHERITED INTERFACE OF FUNCTION2 */
      fmatvec::Vec operator()(const fmatvec::Vec &gd, const double& laN) override;
      fmatvec::Vec parDer2(const fmatvec::Vec &gd, const double& laN) override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
      void init(Element::InitStage stage, const InitConfigSet &config) override {
        Function<fmatvec::Vec(fmatvec::Vec,double)>::init(stage, config);
        fmu->init(stage, config);
      }
      /***************************************************/
 
      /* GETTER / SETTER */
      void setFrictionFunction(Function<double(double)> *fmu_) {
        fmu=fmu_;
        fmu->setParent(this);
        fmu->setName("Friction");
      }
      void setMarginalVelocity(double gdLim_) { gdLim=gdLim_; }
      /***************************************************/
 
    protected:
      Function<double(double)> *fmu;
      
      double gdLim{0.01};
  };
 
}
 
#endif