File numerics/src/FrictionContact/RollingFrictionContactProblem.h

Go to the source code of this file

Functions

void rollingFrictionContact_display(RollingFrictionContactProblem *problem)

display a RollingFrictionContactProblem

Parameters
  • problem: the problem to display

int rollingFrictionContact_newFromFile(RollingFrictionContactProblem *problem, FILE *file)

read a RollingFrictionContactProblem in a file (numerics .dat format)

Return

0 if successfull

Parameters
  • problem: the problem to read

  • file: the target file

int rollingFrictionContact_newFromFilename(RollingFrictionContactProblem *problem, char *filename)

read a RollingFrictionContactProblem in a file (numerics .dat format) from its filename

Return

0 if successfull

Parameters
  • problem: the problem to read

  • filename: the name of the target file

int rollingFrictionContact_printInFile(RollingFrictionContactProblem *problem, FILE *file)

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

Return

0 if successfull

Parameters
  • problem: the problem to print out

  • file: the dest file

int rollingFrictionContact_printInFilename(RollingFrictionContactProblem *problem, char *filename)

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

Return

0 if successfull

Parameters
  • problem: the problem to print out

  • filename: the dest file

void rollingFrictionContactProblem_compute_statistics(RollingFrictionContactProblem *problem, double *reaction, double *velocity, double tol, int do_print)
void rollingFrictionContactProblem_free(RollingFrictionContactProblem *problem)

free a RollingFrictionContactProblem

Parameters
  • problem: the problem to free

RollingFrictionContactProblem *rollingFrictionContactProblem_new(void)
RollingFrictionContactProblem *rollingFrictionContactProblem_new_with_data(int dim, int nc, NumericsMatrix *M, double *q, double *mu, double *mu_r)

new RollingFrictionContactProblem from minimal set of data

Return

a pointer to a RollingFrictionContactProblem structure

Parameters
  • [in] dim: the problem dimension

  • [in] nc: the number of contact

  • [in] M: the NumericsMatrix

  • [in] q: the q vector

  • [in] mu: the mu vector

struct RollingFrictionContactProblem
#include <RollingFrictionContactProblem.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 )

NumericsMatrix *M

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

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)

int numberOfContacts

the number of contacts \( n_c \)

double *q

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