#include <friction.h>

Inheritance diagram for ScrewJointSh_c:

Collaboration diagram for ScrewJointSh_c:

Public Member Functions
	ScrewJointSh_c (const doublereal r, const doublereal hta)

doublereal	ComputePitchAngle (const doublereal pitch)

virtual doublereal	Sh_c (void) const

doublereal	Sh_c (const doublereal f, const doublereal F, const doublereal v)

void	dSh_c (ExpandableRowVector &dShc, const doublereal f, const doublereal F, const doublereal v, const ExpandableRowVector &dfc, const ExpandableRowVector &dF, const ExpandableRowVector &dv) const

Public Member Functions inherited from BasicShapeCoefficient
virtual	~BasicShapeCoefficient (void)

Private Attributes
doublereal	shc

const doublereal	radius

const doublereal	half_thread_angle

const doublereal	pitch_angle

const doublereal	sec_half_thread_angle

const doublereal	tg_pitch

const doublereal	tg_pitch2

Detailed Description

Simple, low load shape coefficient for revolute hinge (PlaneHingeJoint)

Definition at line 338 of file friction.h.

Constructor & Destructor Documentation

ScrewJointSh_c::ScrewJointSh_c	(	const doublereal	r,
		const doublereal	hta
	)

inline

Definition at line 349 of file friction.h.

          : 
                 radius(r), 
                 half_thread_angle(hta), 
                 pitch_angle(0.),
                 sec_half_thread_angle(1. / std::cos(half_thread_angle)),
                 tg_pitch(0.),
                 tg_pitch2(0.) {
         };

Member Function Documentation

doublereal ScrewJointSh_c::ComputePitchAngle ( const doublereal pitch )

inline

Definition at line 360 of file friction.h.

References grad::atan(), grad::cos(), half_thread_angle, M_PI, pitch_angle, radius, grad::tan(), tg_pitch, and tg_pitch2.

                                                              {
                 const_cast<doublereal&>(tg_pitch) = pitch / (2. * M_PI * radius);
                 const_cast<doublereal&>(tg_pitch2) = tg_pitch * tg_pitch;
                 const_cast<doublereal&>(pitch_angle) = std::atan(tg_pitch);
                 const_cast<doublereal&>(half_thread_angle) = std::atan(
                         std::cos(pitch_angle) * std::tan(half_thread_angle)
                 );
                 return radius / std::cos(pitch_angle);
         };

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void ScrewJointSh_c::dSh_c	(	ExpandableRowVector &	dShc,
		const doublereal	f,
		const doublereal	F,
		const doublereal	v,
		const ExpandableRowVector &	dfc,
		const ExpandableRowVector &	dF,
		const ExpandableRowVector &	dv
	)		const

inlinevirtual

Compute derivatives of the shape coefficient

Implements BasicShapeCoefficient.

Definition at line 379 of file friction.h.

References ExpandableRowVector::Link(), grad::pow(), radius, ExpandableRowVector::ReDim(), sec_half_thread_angle, ExpandableRowVector::Set(), tg_pitch, and tg_pitch2.

                                                      {
                 doublereal dsh_fc = radius * (-sec_half_thread_angle * (1 + tg_pitch2) ) /
                         std::pow(f * sec_half_thread_angle * tg_pitch - 1., 2.);
                 dShc.ReDim(1);
                 dShc.Set(dsh_fc, 1);
                 dShc.Link(1, &dfc);
         };

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virtual doublereal ScrewJointSh_c::Sh_c ( void ) const

inlinevirtual

Return last computed shape coefficient

Implements BasicShapeCoefficient.

Definition at line 369 of file friction.h.

References shc.

369 {return shc;};

ScrewJointSh_c::shc

doublereal shc

Definition: friction.h:340

doublereal ScrewJointSh_c::Sh_c	(	const doublereal	f,
		const doublereal	F,
		const doublereal	v
	)

inlinevirtual

Compute the shape coefficient

Implements BasicShapeCoefficient.

Definition at line 370 of file friction.h.

References radius, sec_half_thread_angle, shc, tg_pitch, and tg_pitch2.

                                     {
                 
                 shc  = radius * (f * sec_half_thread_angle * (1 + tg_pitch2)) /
                         (f * sec_half_thread_angle * tg_pitch - 1.);
                 return shc;
         };