regularized_constraint.h

/* Copyright (C) 2004-2018 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: martin.o.foerg@googlemail.com
 */
 
#ifndef _REGULARIZED_CONSTRAINT_H_
#define _REGULARIZED_CONSTRAINT_H_
 
#include <mbsim/constitutive_laws/generalized_force_law.h>
 
namespace MBSim {
 
  class RegularizedConstraint : public GeneralizedForceLaw {
    public:
      RegularizedConstraint(Function<double(double,double)> *forceFunc_=nullptr) : forceFunc(forceFunc_) {
        if(forceFunc)
          forceFunc->setParent(this);
      }
 
      ~RegularizedConstraint() override { delete forceFunc; };
 
      void init(Element::InitStage stage, const InitConfigSet &config) override;
 
      /* INHERITED INTERFACE */
      bool isSetValued() const override { return false; }
      /***************************************************/
 
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
      double operator()(double g, double gd) override { return (*forceFunc)(g,gd); }
 
      void setForceFunction(Function<double(double,double)> *forceFunc_) { 
        forceFunc=forceFunc_; 
        forceFunc->setParent(this);
 
      }
 
      Function<double(double,double)>* getForceFunction() { return forceFunc; }
 
    protected:
      Function<double(double,double)> *forceFunc;
  };
 
}
 
#endif