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FrictionSpecies.h
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25 
26 #ifndef FrictionSpecies_H
27 #define FrictionSpecies_H
28 #include "SlidingFrictionSpecies.h"
29 #include "Math/ExtendedMath.h"
31 
38 {
39 public:
42 
45 
48 
50  virtual ~FrictionSpecies();
51 
53  void read(std::istream& is);
54 
56  void write(std::ostream& os) const;
57 
59  std::string getBaseName() const;
60 
64  bool getUseAngularDOFs() const;
65 
67  void mix(FrictionSpecies* const S, FrictionSpecies* const T);
68 
69 //setters and getters
70 
72  void setRollingStiffness(Mdouble new_kt);
73 
76 
78  void setRollingDissipation(Mdouble new_dispt);
79 
82 
84  //mu has to be set to allow tangential forces (sets dispt=disp as default)
86 
89 
92 
95 
97  void setTorsionStiffness(Mdouble new_kt);
98 
101 
103  void setTorsionDissipation(Mdouble new_dispt);
104 
107 
109  //mu has to be set to allow tangential forces (sets dispt=disp as default)
111 
114 
117 
120 
121 private:
129 
137 
138 
143 
149 
157 
165 
170 
176 };
177 #endif
Mdouble getRollingFrictionCoefficient() const
Allows the (dynamic) Coulomb friction coefficient to be accessed.
void setRollingFrictionCoefficientStatic(Mdouble new_mu)
Allows the static Coulomb rolling friction coefficient to be changed.
void setTorsionFrictionCoefficient(Mdouble new_mu)
Allows the (dynamic) Coulomb torsion friction coefficient to be changed; also sets mu_s by default...
Mdouble getTorsionFrictionCoefficient() const
Allows the (dynamic) Coulomb torsion friction coefficient to be accessed.
void setTorsionStiffness(Mdouble new_kt)
Allows the torsion stiffness to be changed.
FrictionSpecies contains the parameters used to describe sliding, rolling and torsional friction...
Mdouble rollingStiffness_
rolling stiffness.
Mdouble rollingDissipation_
rolling dissipation coefficient.
void setRollingStiffness(Mdouble new_kt)
Allows the spring constant to be changed.
Mdouble rollingFrictionCoefficientStatic_
static Coulomb rolling friction coefficient (by default set equal to the dynamic one).
void write(std::ostream &os) const
Writes the species properties to an output stream.
double Mdouble
This class allows one to take all three types of frictional interactions into account. The sliding, rolling and torsional frictional interaction. See.
FrictionSpecies()
The default constructor.
Mdouble getTorsionStiffness() const
Allows the torsion stiffness to be accessed.
Mdouble getRollingDissipation() const
Allows the tangential viscosity to be accessed.
Mdouble getRollingFrictionCoefficientStatic() const
Allows the static Coulomb rolling friction coefficient to be accessed.
Mdouble getRollingStiffness() const
Allows the spring constant to be accessed.
Mdouble torsionDissipation_
rolling dissipation coefficient.
void setTorsionFrictionCoefficientStatic(Mdouble new_mu)
Allows the static Coulomb torsion friction coefficient to be accessed.
void setTorsionDissipation(Mdouble new_dispt)
Allows the torsion viscosity to be changed.
void read(std::istream &is)
Reads the species properties from an input stream.
void setRollingFrictionCoefficient(Mdouble new_mu)
Allows the (dynamic) Coulomb friction coefficient to be changed; also sets mu_s by default...
std::string getBaseName() const
Used in Species::getName to obtain a unique name for each Species.
Mdouble torsionFrictionCoefficient_
(dynamic) Coulomb torsion friction coefficient.
void mix(FrictionSpecies *const S, FrictionSpecies *const T)
creates default values for mixed species
Mdouble rollingFrictionCoefficient_
(dynamic) Coulomb rolling friction coefficient.
SlidingFrictionSpecies contains the parameters used to describe sliding friction. ...
virtual ~FrictionSpecies()
The default destructor.
void setRollingDissipation(Mdouble new_dispt)
Allows the tangential viscosity to be changed.
Mdouble torsionFrictionCoefficientStatic_
static Coulomb torsion friction coefficient (by default set equal to the dynamic one).
Mdouble torsionStiffness_
rolling stiffness.
bool getUseAngularDOFs() const
Returns true if torques have to be calculated.
Mdouble getTorsionDissipation() const
Allows the torsion viscosity to be accessed.
Mdouble getTorsionFrictionCoefficientStatic() const
Allows the static Coulomb torsion friction coefficient to be accessed.
FrictionInteraction InteractionType
The correct Interaction type for this FrictionForceSpecies.