GlobalRollingFrictionContactProblem.h¶

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 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)