linear_regularized_unilateral_constraint.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_UNILATERAL_CONSTRAINT_H_
#define _LINEAR_REGULARIZED_UNILATERAL_CONSTRAINT_H_
 
#include "mbsim/functions/function.h"
 
namespace MBSim {
 
  class LinearRegularizedUnilateralConstraint: public Function<double(double,double)> {
    public:
      LinearRegularizedUnilateralConstraint()  {}
 
      LinearRegularizedUnilateralConstraint(double c_, double d_) : c(c_), d(d_) {}
 
      /* INHERITED INTERFACE OF FUNCTION2 */
      double operator()(const double& g, const double& gd) override { 
        if(g>0)
          return 0;
        else if(gd<0) 
          return -c*g - d*gd;
        else
          return -c*g;
      }
      void initializeUsingXML(xercesc::DOMElement *element) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setParameter(double c_, double d_) { c=c_; d=d_; }
      /***************************************************/
 
    private:
      double c{0}, d{0};
  };
 
}
 
#endif