Barrier¶

template <typename T = double> class BarrierBase;¶

Inheritance diagram for ipc::BarrierBase:

Base class for barrier functions.

Subclassed by ipc::ClampedLogBarrier< T >, ipc::ClampedLogSqBarrier< T >, ipc::CubicBarrier< T >, ipc::TwoStageBarrier< T >

Public Functions¶

BarrierBase() = default;¶

virtual ~BarrierBase() = default;¶

virtual T operator()(const T d, const T dhat) const = 0;¶

Evaluate the barrier function.

Parameters:¶

const T d¶

Distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The value of the barrier function at d.

virtual T first_derivative(const T d, const T dhat) const = 0;¶

Evaluate the first derivative of the barrier function wrt d.

Parameters:¶

const T d¶

Distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The value of the first derivative of the barrier function at d.

virtual T second_derivative(const T d, const T dhat) const = 0;¶

Evaluate the second derivative of the barrier function wrt d.

Parameters:¶

const T d¶

Distance.

const T dhat¶

Activation distance of the barrier.

Returns:¶

The value of the second derivative of the barrier function at d.

virtual T units(const T dhat) const = 0;¶

Get the units of the barrier function.

Essentially, barrier(d, d̂) / units(d̂) should be dimensionless.

Parameters:¶

const T dhat¶

The activation distance of the barrier.

Returns:¶

The units of the barrier function.

Protected Types¶

using value_type = T;¶