File numerics/src/FrictionContact/GlobalRollingFrictionContactProblem.h

File numerics/src/FrictionContact/GlobalRollingFrictionContactProblem.h#

Go to the source code of this file

Definition of a structure to handle friction-contact (2D or 3D) problems.

Functions

GlobalRollingFrictionContactProblem *globalRollingFrictionContactProblem_new(void)#
GlobalRollingFrictionContactProblem *globalRollingFrictionContactProblem_new_with_data(int dim, int nc, NumericsMatrix *M, double *q, double *mu, double *mu_r)#

new GlobalRollingFrictionContactProblem from minimal set of data

Parameters:

  • dim – [in] the problem dimension

  • nc – [in] the number of contact

  • M – [in] the NumericsMatrix

  • q – [in] the q vector

  • mu – [in] the mu vector

Returns:

a pointer to a GlobalRollingFrictionContactProblem structure

void globalRollingFrictionContactProblem_free(GlobalRollingFrictionContactProblem *problem)#

free a GlobalRollingFrictionContactProblem

Parameters:

problem – the problem to free

void globalRollingFrictionContact_display(GlobalRollingFrictionContactProblem *problem)#

display a GlobalRollingFrictionContactProblem

Parameters:

problem – the problem to display

int globalRollingFrictionContact_printInFile(GlobalRollingFrictionContactProblem *problem, FILE *file)#

print a GlobalRollingFrictionContactProblem in a file (numerics .dat format)

Parameters:

  • problem – the problem to print out

  • file – the dest file

Returns:

0 if successfull

int globalRollingFrictionContact_printInFilename(GlobalRollingFrictionContactProblem *problem, char *filename)#

print a GlobalRollingFrictionContactProblem in a file (numerics .dat format) from its filename

Parameters:

  • problem – the problem to print out

  • filename – the dest file

Returns:

0 if successfull

GlobalRollingFrictionContactProblem *globalRollingFrictionContact_newFromFile(FILE *file)#

read a GlobalRollingFrictionContactProblem from a file descriptor

Parameters:

file – descriptor

Returns:

problem the problem to read

GlobalRollingFrictionContactProblem *globalRollingFrictionContact_new_from_filename(const char *filename)#

read a GlobalRollingFrictionContactProblem from a file (.dat or hdf5 if fclib is on) from its filename

Parameters:

filename – the name of the input file

Returns:

problem the problem to read

int globalRollingFrictionContact_computeGlobalVelocity(GlobalRollingFrictionContactProblem *problem, double *reaction, double *globalVelocity)#

Compute the global velocity given the reaction.

Parameters:

  • problem – [in] to be considered

  • reaction – [in] the reaction, if there is no contacts reaction can be NULL

  • globalVelocity – [out] the global velocity computed by inverting the system.

RollingFrictionContactProblem *globalRollingFrictionContact_reformulation_RollingFrictionContact(GlobalRollingFrictionContactProblem *problem)#
struct GlobalRollingFrictionContactProblem#
#include <GlobalRollingFrictionContactProblem.h>

GlobalRollingFrictionContactProblem.h The structure that defines a (reduced or dual) Friction-Contact (3D or 2D) problem.

Public Members

int dimension#

dimension of the contact space (3D or 2D )

int numberOfContacts#

the number of contacts \( n_c \)

NumericsMatrix *M#

\( {M} \in {{\mathrm{I\!R}}}^{n \times n} \), a matrix with \( n = d n_c \) stored in NumericsMatrix structure

NumericsMatrix *H#

\( {H} \in {{\mathrm{I\!R}}}^{n \times m} \), a matrix with \( m = d n_c \) stored in NumericsMatrix structure

double *q#

\( {q} \in {{\mathrm{I\!R}}}^{n} \)

double *b#

\( {b} \in {{\mathrm{I\!R}}}^{m} \)

double *mu#

\( {\mu} \in {{\mathrm{I\!R}}}^{n_c} \), vector of friction coefficients ( \( n_c = \) numberOfContacts)

double *mu_r#

\( {\mu_r} \in {{\mathrm{I\!R}}}^{n_c} \), vector of friction coefficients ( \( n_c = \) numberOfContacts)

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