SimplePlaneHingeJointSh_c Class Reference

#include <friction.h>

Inheritance diagram for SimplePlaneHingeJointSh_c:

Collaboration diagram for SimplePlaneHingeJointSh_c:

Public Member Functions
	SimplePlaneHingeJointSh_c (void)
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

Detailed Description

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

Definition at line 316 of file friction.h.

Constructor & Destructor Documentation

SimplePlaneHingeJointSh_c::SimplePlaneHingeJointSh_c

(

void

)

Definition at line 571 of file friction.cc.

 {};

Member Function Documentation

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

virtual

Compute derivatives of the shape coefficient

Implements BasicShapeCoefficient.

Definition at line 586 of file friction.cc.

References ExpandableRowVector::Link(), grad::pow(), ExpandableRowVector::ReDim(), ExpandableRowVector::Set(), and grad::sqrt().

                                             {
                doublereal dsh_fc = 1./std::sqrt(1.+f*f)-0.5*std::pow(1.+f*f,-3./2.)*f;
//              dShc.ReDim(2);
//              dShc.Set(0.,1);
//              dShc.Link(1,&dF);
//              dShc.Set(dsh_fc,2);
//              dShc.Link(2,&dfc);
                dShc.ReDim(1);
                dShc.Set(dsh_fc,1);
                dShc.Link(1,&dfc);
};

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doublereal SimplePlaneHingeJointSh_c::Sh_c ( void  ) const

virtual

Return last computed shape coefficient

Implements BasicShapeCoefficient.

Definition at line 574 of file friction.cc.

References shc.

                                                     {
        return shc;
}

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

virtual

Compute the shape coefficient

Implements BasicShapeCoefficient.

Definition at line 578 of file friction.cc.

References shc, and grad::sqrt().

                            {
        shc = f/std::sqrt(1.+f*f);
        return shc;
};

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Member Data Documentation

doublereal SimplePlaneHingeJointSh_c::shc

private

Definition at line 318 of file friction.h.

Referenced by Sh_c().

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

• friction.h
• friction.cc