friction.cc File Reference

#include "mbconfig.h"
#include <cmath>
#include "mbpar.h"
#include "datamanforward.h"
#include "friction.h"
#include "submat.h"

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Functions
int	sign (const doublereal x)
BasicFriction *const	ParseFriction (MBDynParser &HP, DataManager *pDM)
BasicShapeCoefficient *const	ParseShapeCoefficient (MBDynParser &HP)

Function Documentation

BasicFriction* const ParseFriction	(	MBDynParser &	HP,
		DataManager *	pDM
	)

Definition at line 608 of file friction.cc.

References IncludeParser::GetLineData(), HighParser::GetReal(), HighParser::IsKeyWord(), LASTKEYWORD, MBDYN_EXCEPT_ARGS, and ParseScalarFunction().

{
   const char* sKeyWords[] = { 
      "modlugre",
      "discrete" "coulomb",
      NULL
   };
        enum KeyWords { 
             MODLUGRE = 0,
             DISCRETECOULOMB,
             LASTKEYWORD
        };
        /* token corrente */
        KeyWords FuncType;
        
        KeyTable K(HP, sKeyWords);
        
        FuncType = KeyWords(HP.IsKeyWord());
        switch (FuncType) {
        case MODLUGRE: {
                doublereal sigma0 = HP.GetReal();
                doublereal sigma1 = HP.GetReal();
                doublereal sigma2 = HP.GetReal();
                doublereal kappa = HP.GetReal();
                const BasicScalarFunction*const sf = 
                        ParseScalarFunction(HP, pDM);
                return new ModLugreFriction(sigma0, sigma1, sigma2, kappa, sf);
                break;
        }
        case DISCRETECOULOMB: {
                const BasicScalarFunction*const sf = 
                        ParseScalarFunction(HP, pDM);
                doublereal sigma2 = 0.;
                doublereal vel_ratio = 0.8;
                if (HP.IsKeyWord("sigma2")) {
                        sigma2 = HP.GetReal();
                }
                if (HP.IsKeyWord("velocity" "ratio")) {
                        vel_ratio = HP.GetReal();
                }
                return new DiscreteCoulombFriction(sf,sigma2, vel_ratio);
                break;
        }
        default: {
                silent_cerr("ParseFriction(): unrecognized friction type "
                                "at line " << HP.GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                break;
        }
        }
        return 0;
};

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BasicShapeCoefficient* const ParseShapeCoefficient

(

MBDynParser &

HP

)

Definition at line 662 of file friction.cc.

References IncludeParser::GetLineData(), HighParser::GetReal(), HighParser::IsKeyWord(), LASTKEYWORD, and MBDYN_EXCEPT_ARGS.

                                                                    {
        const char* sKeyWords[] = {
                "simple",
                "simple" "plane" "hinge",
                "screw" "joint",
                NULL
        };
        enum KeyWords { 
                SIMPLE = 0,
                SIMPLEPLANEHINGE,
                SCREWJOINT,
                LASTKEYWORD
        };
        /* token corrente */
        KeyWords FuncType;
        
        KeyTable K(HP, sKeyWords);
        
        FuncType = KeyWords(HP.IsKeyWord());
        switch (FuncType) {
        case SIMPLE: {
                return new SimpleShapeCoefficient();
                break;
        }
        case SIMPLEPLANEHINGE: {
                return new SimplePlaneHingeJointSh_c();
                break;
        }
        case SCREWJOINT: {
                doublereal radius(0.), hta(0.);
                if (HP.IsKeyWord("radius")) {
                        radius = HP.GetReal();
                } else {
                        pedantic_cerr("ScrewJointShapeCoefficient: missing keyword \"radius\" at line "
                                << HP.GetLineData());
                }
                if (HP.IsKeyWord("half" "thread" "angle")) {
                        hta = HP.GetReal();
                } else {
                        pedantic_cerr("ScrewJointShapeCoefficient: missing keyword \"half thread angle\" at line "
                                << HP.GetLineData());
                }
                return new ScrewJointSh_c(radius, hta);
                break;
        }
        default: {
                silent_cerr("ParseShapeCoefficient(): "
                        "unrecognized shape coefficient type "
                        "at line " << HP.GetLineData() << std::endl);
                throw MBDynParser::ErrGeneric(MBDYN_EXCEPT_ARGS);
                break;
        }
        }
        return 0;
};

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int sign

(

const doublereal

x

)

Definition at line 42 of file friction.cc.

Referenced by ModLugreFriction::alpha(), ModLugreFriction::alphad_v(), ModLugreFriction::alphad_z(), DiscreteCoulombFriction::AssJac(), DiscreteCoulombFriction::AssRes(), ModLugreFriction::fs(), and ModLugreFriction::fsd().

                             {
        if (x >= 0.) {
                return 1;
        } else if (x < 0.) {
                return -1;
        }
        return 0;
};