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rdPolynomialSetPoint Class Reference

Contact modeled with a polynomal spring in the normal direction and a moving set point in the tangential plane. More...

#include <rdPolynomialSetPoint.h>

Inheritance diagram for rdPolynomialSetPoint:

List of all members.

Public Member Functions
	rdPolynomialSetPoint (int aBodyA=0, int aBodyB=0)
	Default constructor.
	rdPolynomialSetPoint (IDOM_Element *aElement)
	Construct an actuator from an XML element.
	rdPolynomialSetPoint (const rdPolynomialSetPoint &aContact)
	Copy constructor.
virtual	~rdPolynomialSetPoint ()
	Destructor.
virtual rdActuator *	copy () const
	Copy this actuator and return a pointer to the copy.
virtual rdActuator *	copy (IDOM_Element *aElement) const
	Copy this actuator and modify the copy so that it is consistent with a specified XML element node.
rdPolynomialSetPoint &	operator= (const rdPolynomialSetPoint &aActuator)
	Assignment operator.
void	setNormalStiffnessConstant (double aKNP)
	Set normal stiffness.
double	getNormalStiffnessConstant () const
	Get normal stiffness.
void	setNormalViscosityConstant (double aKNV)
	Set normal viscosity.
double	getNormalViscosityConstant () const
	Get normal viscosity.
void	setStiffnessPower (double aPower)
	Set the power to which the normal displacement of the spring is raised.
double	getStiffnessPower () const
	Get the power to which the normal displacement of the spring is raised.
void	setViscosityPower (double aPower)
	Set the power to which the normal velocity of the spring is raised.
double	getViscosityPower () const
	Get the power to which the normal velocity of the spring is raised.
virtual void	computeActuation ()
	Compute all quantities necessary for applying the actuator force to the model.
virtual bool	check () const
	Check that this force actuator has a valid set of states.
virtual void	updateObject (bool aDeep=true)
	Update this object based on its XML node.
virtual void	updateNode (bool aDeep=true)
	Update the XML node representing this object.
virtual void	generateNode (IDOM_Element *aParent)
	Generate an XML node representing this object.
void	updateData ()
	Update the member data of this object based on its XML node.
Static Public Attributes
const char	PROP_NORMAL_STIFFNESS [] = "normal_stiffness"
const char	PROP_NORMAL_VISCOSITY [] = "normal_viscosity"
const char	PROP_STIFFNESS_POWER [] = "stiffness_power"
const char	PROP_VISCOSITY_POWER [] = "viscosity_power"
Protected Attributes
double	_kNP
	Normal stiffness constant.
double	_kNV
	Normal viscosity constant.
double	_powNP
	Stiffness power- power to which normal spring displacement is raised.
double	_powNV
	Viscosity power- power to which normal spring velocity is raised.
Private Member Functions
void	setNull ()
	Set the data members of this actuator to their null values.

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Detailed Description

Contact modeled with a polynomal spring in the normal direction and a moving set point in the tangential plane.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdPolynomialSetPoint::rdPolynomialSetPoint (  IDOM_Element *  aElement  )

Construct an actuator from an XML element. Parameters: aElement  XML element.

rdPolynomialSetPoint::rdPolynomialSetPoint (  const rdPolynomialSetPoint &  aContact  )

Copy constructor. Parameters: aContact  Contact to be copied.

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Member Function Documentation

rdActuator * rdPolynomialSetPoint::copy (  IDOM_Element *  aElement  )  const [virtual]

Copy this actuator and modify the copy so that it is consistent with a specified XML element node. The copy is constructed by first using rdForce::rdForce(IDOM_Element*,int,int) in order to establish the relationship of the rdForce object with the XML node. Then, the assignment operator is used to set all data members of the copy to the values of this rdForce object. Finally, the data members of the copy are updated using rdForce::updateObject(). Parameters: aElement  XML element. Returns: Pointer to a copy of this actuator. Reimplemented from rdForce.

rdActuator * rdPolynomialSetPoint::copy (   )  const [virtual]

Copy this actuator and return a pointer to the copy. The copy constructor for this class is used. Returns: Pointer to a copy of this actuator. Reimplemented from rdForce.

void rdPolynomialSetPoint::generateNode (  IDOM_Element *  aParent  )  [virtual]

Generate an XML node representing this object. Parameters: aParent  Intended parent of the node to be generated. If aParent is NULL, the intent is for this object to serve as the root element of a new document. See also: rdObject::generateNode() Reimplemented from rdSetPoint.

double rdPolynomialSetPoint::getNormalStiffnessConstant (   )  const

Get normal stiffness. Returns: Normal stiffness.

double rdPolynomialSetPoint::getNormalViscosityConstant (   )  const

Get normal viscosity. Returns: Normal viscosity.

double rdPolynomialSetPoint::getStiffnessPower (   )  const

Get the power to which the normal displacement of the spring is raised. Returns: Power to which the normal displacement of the spring is raised.

double rdPolynomialSetPoint::getViscosityPower (   )  const

Get the power to which the normal velocity of the spring is raised. Returns: Power to which the normal velocity of the spring is raised.

rdPolynomialSetPoint & rdPolynomialSetPoint::operator= (  const rdPolynomialSetPoint &  aActuator  )

Assignment operator. Parameters: aActuator  Actuator to which to set this actuator equal. Returns: Reference to this object.

void rdPolynomialSetPoint::setNormalStiffnessConstant (  double  aKNP  )

Set normal stiffness. Parameters: aKTP  Normal stiffness- must be positive.

void rdPolynomialSetPoint::setNormalViscosityConstant (  double  aKNV  )

Set normal viscosity. Parameters: aKTV  Normal viscosity- must be positive.

void rdPolynomialSetPoint::setStiffnessPower (  double  aPower  )

Set the power to which the normal displacement of the spring is raised. Parameters: aPower  Power to which the normal displacement of the spring is raised.

void rdPolynomialSetPoint::setViscosityPower (  double  aPower  )

Set the power to which the normal velocity of the spring is raised. Parameters: aPower  Power to which the normal velocity of the spring is raised.

void rdPolynomialSetPoint::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated. Reimplemented from rdSetPoint.

void rdPolynomialSetPoint::updateNode (  bool  aDeep = true  )  [virtual]

Update the XML node representing this object. Parameters: aDeep  If true, update the XML node of this object AND the XML nodes of all class members that are rdObjects (child nodes); if false, update only the XML node of this object without updating the XML nodes of its children. Reimplemented from rdSetPoint.

void rdPolynomialSetPoint::updateObject (  bool  aDeep = true  )  [virtual]

Update this object based on its XML node. Parameters: aDeep  If true, update this object and all its child objects (that is, member variables that are rdObject's); if false, update only the member variables that are not rdObject's. Reimplemented from rdSetPoint.

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Member Data Documentation

double rdPolynomialSetPoint::_kNP [protected]

Normal stiffness constant. This constant needs to be different than variable in base class. The base class variable is the instantaneous stiffness.

double rdPolynomialSetPoint::_kNV [protected]

Normal viscosity constant. This constant needs to be different than variable in base class. The base class variable is the instantaneous viscosity.

double rdPolynomialSetPoint::_powNP [protected]

Stiffness power- power to which normal spring displacement is raised. The power is 1.0 by default.

double rdPolynomialSetPoint::_powNV [protected]

Viscosity power- power to which normal spring velocity is raised. The power is 1.0 by default.

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

• rdPolynomialSetPoint.h
• rdPolynomialSetPoint.cpp

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