mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

weight33RCM.h
1 /* Copyright (C) 2004-2015 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: thorsten.schindler@mytum.de
18 */
19
20 #ifndef WEIGHT33RCM_H_
21 #define WEIGHT33RCM_H_
22
23 #include "fmatvec/fmatvec.h"
24 #include "mbsimFlexibleBody/pointer.h"
25
26 namespace MBSimFlexibleBody {
27
33 class Weight33RCM {
34 public:
38 Weight33RCM(double l0_,double l0h2_,double l0h3_,Trafo33RCMPtr tf_);
41 virtual ~Weight33RCM();
42
43 /* GETTER / SETTER */
48 void setCurvature(double k10_,double k20_);
49
53 void setGauss(int nGauss);
54
55 const fmatvec::RowVec& getvxvt() const;
56 const fmatvec::Vec& getvxvtH() const;
57 const fmatvec::RowVec& getxvxvt() const;
58 const fmatvec::Vec& getxvxvtH() const;
59 const fmatvec::SymMat& getvxvtwxwt() const;
60 const fmatvec::RowVec& getvvt() const;
61 const fmatvec::Vec& getvvtH() const;
62 const fmatvec::RowVec& getxvvt() const;
63 const fmatvec::Vec& getxvvtH() const;
64 const fmatvec::SymMat& getvvtwwt() const;
65
66 const double& getIwh1() const;
67 const double& getIwh2() const;
68 const double& getIwh1t() const;
69 const double& getIwh2t() const;
70 const double& getIxwh1() const;
71 const double& getIxwh2() const;
72 const double& getIxwh1t() const;
73 const double& getIxwh2t() const;
74 const double& getIwh1twh1() const;
75 const double& getIwh1twh2() const;
76 const double& getIwh1twh1t() const;
77 const double& getIwh1wh1() const;
78 const double& getIwh1wh2t() const;
79 const double& getIwh1wh2() const;
80 const double& getIwh2twh2t() const;
81 const double& getIwh2twh2() const;
82 const double& getIwh2wh2() const;
83 const double& getIwh1twh2t() const;
84 const double& getIwh1xwh1x() const;
85 const double& getIwh2xwh2x() const;
86 const double& getIwh1xxwh1xx() const;
87 const double& getIwh2xxwh2xx() const;
88 const fmatvec::RowVec& getIwh1xxwxxwt() const;
89 const fmatvec::RowVec& getIwh2xxwxxwt() const;
90 const fmatvec::RowVec& getIwh1wwt() const;
91 const fmatvec::RowVec& getIwh2wwt() const;
92 const fmatvec::Vec& getIwh1wwtH() const;
93 const fmatvec::Vec& getIwh2wwtH() const;
94 const fmatvec::RowVec& getIwh1twwt() const;
95 const fmatvec::RowVec& getIwh2twwt() const;
96 const fmatvec::Vec& getIwh1twwtH() const;
97 const fmatvec::Vec& getIwh2twwtH() const;
98 const fmatvec::RowVec& getIwh1xwxwt() const;
99 const fmatvec::RowVec& getIwh2xwxwt() const;
100
101 const fmatvec::Vec& getw1coef() const;
102 const fmatvec::Vec& getw2coef() const;
103 const fmatvec::Vec& getw1tcoef() const;
104 const fmatvec::Vec& getw2tcoef() const;
105 const fmatvec::Mat& getw1coefqI() const;
106 const fmatvec::Mat& getw2coefqI() const;
107 const fmatvec::Vec& getwh1coef() const;
108 const fmatvec::Vec& getwh2coef() const;
109 const fmatvec::Vec& getwh1tcoef() const;
110 const fmatvec::Vec& getwh2tcoef() const;
111 const fmatvec::Mat& getwh1coefqI() const;
112 const fmatvec::Mat& getwh2coefqI() const;
113 fmatvec::Mat getwh1coefqIH() const;
114 fmatvec::Mat getwh2coefqIH() const;
115 const fmatvec::Mat& getwh1tcoefqI() const;
116 const fmatvec::Mat& getwh2tcoefqI() const;
117 const fmatvec::Mat& getwh1coefqInunutH() const;
118 const fmatvec::Mat& getwh2coefqInunutH() const;
119
120 const fmatvec::Mat& gettSqI() const;
121 const fmatvec::Mat& getnSqI() const;
122 const fmatvec::Mat& getbSqI() const;
123 const fmatvec::Mat& getnSqIH() const;
124 const fmatvec::Mat& getbSqIH() const;
125 const fmatvec::Mat& gettStqI() const;
126 const fmatvec::Mat& getnStqI() const;
127 const fmatvec::Mat& getbStqI() const;
128
129 const double& getTtil() const;
130 const fmatvec::RowVec& getTtilqI() const;
131 const fmatvec::SymMat& getTtilqItqIt() const;
132 const fmatvec::Vec& getTtilqItqIqIt() const;
133
134 const fmatvec::Mat& getdpS() const;
135 const fmatvec::Mat& getdpSH() const;
136 /***************************************************/
137
138 /* BASIC INTEGRALS */
139 double intv(const fmatvec::Vec& vt) const;
140 double intvx(const fmatvec::Vec& vt) const;
141 double intxv(const fmatvec::Vec& vt) const;
142 double intxvx(const fmatvec::Vec& vt) const;
143 double intvw(const fmatvec::Vec& vt,const fmatvec::Vec& wt) const;
144 double intvxwx(const fmatvec::Vec& vt,const fmatvec::Vec& wt) const;
145 double intvxxvxx(const fmatvec::Vec& vt,double C) const;
146 void intvvt();
147 void intvvtH();
148 void intvxvt();
149 void intvxvtH();
150 void intxvvt();
151 void intxvvtH();
152 void intxvxvt();
153 void intxvxvtH();
154 fmatvec::RowVec intvwwt(const fmatvec::Vec& vt) const;
155 fmatvec::RowVec intvxwxwt(const fmatvec::Vec& vt) const;
156 fmatvec::RowVec intvxxwxxwt(const fmatvec::Vec& vt,double C) const;
157 void intvvtwwt();
158 void intvxvtwxwt();
159 /***************************************************/
160
166 void computeint(const fmatvec::Vec& qG,const fmatvec::Vec& qGt);
167
173 void computeintD(const fmatvec::Vec& qG,const fmatvec::Vec& qGt);
174
179 void computewcoefPos(const fmatvec::Vec& qG);
180
186 void computewcoefVel(const fmatvec::Vec& qG,const fmatvec::Vec& qGt);
187
192 void computewhcoefPos(const fmatvec::Vec& qG);
193
199 void computewhcoefVel(const fmatvec::Vec& qG,const fmatvec::Vec& qGt);
200
204 void computewcoefPosD();
205
210 void computewhcoefPosD(const fmatvec::Vec& qG);
211
219 fmatvec::Vec computewcoef(double dL,double dR,double bL,double bR) const;
220
225 fmatvec::Vec computew(const fmatvec::Vec& wt,double x) const;
226
227 private:
231 Trafo33RCMPtr tf;
232
236 double l0, l0h2, l0h3, l0h4, l0h5, l0h7, l0h9, l0h11;
237
241 double k10, k20;
242
246 fmatvec::RowVec Ivvt, Ivxvt, Ixvvt, Ixvxvt;
247 fmatvec::SymMat Ivvtwwt, Ivxvtwxwt;
248 fmatvec::Vec IvvtH, IvxvtH, IxvvtH, IxvxvtH;
249
253 double Iwh1, Iwh2, Iwh1t, Iwh2t, Ixwh1, Ixwh2, Ixwh1t, Ixwh2t;
254 double Iwh1twh1, Iwh1twh2, Iwh1twh1t, Iwh1wh1, Iwh1wh2t, Iwh1wh2, Iwh2twh2t;
255 double Iwh2twh2, Iwh2wh2, Iwh1twh2t;
256 fmatvec::RowVec Iwh1wwt, Iwh1twwt, Iwh2wwt, Iwh2twwt;
257 fmatvec::Vec Iwh1wwtH, Iwh1twwtH, Iwh2wwtH, Iwh2twwtH;
258
259 double Iwh1xwh1x, Iwh2xwh2x, Iwh1xxwh1xx, Iwh2xxwh2xx;
260 fmatvec::RowVec Iwh1xwxwt, Iwh2xwxwt;
261 fmatvec::RowVec Iwh1xxwxxwt, Iwh2xxwxxwt;
262
266 fmatvec::Vec w1coef, w2coef, w1tcoef, w2tcoef;
267 fmatvec::Vec wh1coef, wh2coef, wh1tcoef, wh2tcoef;
268 fmatvec::Mat w1coefqI, w2coefqI;
269 fmatvec::Mat wh1coefqI, wh2coefqI, wh1tcoefqI, wh2tcoefqI;
270 fmatvec::Mat wh1coefqInunutH, wh2coefqInunutH;
271
275 fmatvec::Mat tSqI, nSqI, bSqI;
276 fmatvec::Mat tStqI, nStqI, bStqI;
277 fmatvec::Mat nSqIH, bSqIH;
278 fmatvec::Mat ntilSqI, btilSqI;
279 fmatvec::RowVec xintilqI, xibtilqI, etantilqI, etabtilqI;
280
284 double omgt;
285 fmatvec::RowVec omgtqI, omgtqIt;
286 fmatvec::Vec omgtqItqIqIt;
287
291 double Ttil;
292 fmatvec::RowVec TtilqI;
293 fmatvec::SymMat TtilqItqIt;
294 fmatvec::Vec TtilqItqIqIt;
295
299 fmatvec::Vec gp, xip; // cannot be initialised in constructor
300 double bam;
301
305 fmatvec::Mat dpS, dpSH;
306
310 void computeint();
311
315 void computewcoefPos();
316
320 void computewcoefVel();
321
325 void computewhcoefPos();
326
330 void computewhcoefVel();
331
335 void computewhcoefPosD();
336
340 void computewhcoefVelD();
341
344 void computeomgt(double x);
345
349 void computeT();
350
354 void computedpS();
355 };
356
357 inline void Weight33RCM::setCurvature(double k10_,double k20_) { k10 = k10_; k20 = k20_; }
358 inline void Weight33RCM::intvvtH() { IvvtH <<= Ivvt.T(); }
359 inline void Weight33RCM::intvxvtH() { IvxvtH <<= Ivxvt.T(); }
360 inline void Weight33RCM::intxvvtH() { IxvvtH <<= Ixvvt.T(); }
361 inline void Weight33RCM::intxvxvtH() { IxvxvtH <<= Ixvxvt.T(); }
362
363 inline const fmatvec::RowVec& Weight33RCM::getvxvt() const { return Ivxvt; }
364 inline const fmatvec::Vec& Weight33RCM::getvxvtH() const { return IvxvtH; }
365 inline const fmatvec::RowVec& Weight33RCM::getxvxvt() const { return Ixvxvt; }
366 inline const fmatvec::Vec& Weight33RCM::getxvxvtH() const { return IxvxvtH; }
367 inline const fmatvec::SymMat& Weight33RCM::getvxvtwxwt() const { return Ivxvtwxwt; }
368 inline const fmatvec::RowVec& Weight33RCM::getvvt() const { return Ivvt; }
369 inline const fmatvec::Vec& Weight33RCM::getvvtH() const { return IvvtH; }
370 inline const fmatvec::RowVec& Weight33RCM::getxvvt() const { return Ixvvt; }
371 inline const fmatvec::Vec& Weight33RCM::getxvvtH() const { return IxvvtH; }
372 inline const fmatvec::SymMat& Weight33RCM::getvvtwwt() const { return Ivvtwwt; }
373
374 inline const double& Weight33RCM::getIwh1() const { return Iwh1; }
375 inline const double& Weight33RCM::getIwh2() const { return Iwh2; }
376 inline const double& Weight33RCM::getIwh1t() const { return Iwh1t; }
377 inline const double& Weight33RCM::getIwh2t() const { return Iwh2t; }
378 inline const double& Weight33RCM::getIxwh1() const { return Ixwh1; }
379 inline const double& Weight33RCM::getIxwh2() const { return Ixwh2; }
380 inline const double& Weight33RCM::getIxwh1t() const { return Ixwh1t; }
381 inline const double& Weight33RCM::getIxwh2t() const { return Ixwh2t; }
382 inline const double& Weight33RCM::getIwh1twh1() const { return Iwh1twh1; }
383 inline const double& Weight33RCM::getIwh1twh2() const { return Iwh1twh2; }
384 inline const double& Weight33RCM::getIwh1twh1t() const { return Iwh1twh1t; }
385 inline const double& Weight33RCM::getIwh1wh1() const { return Iwh1wh1; }
386 inline const double& Weight33RCM::getIwh1wh2t() const { return Iwh1wh2t; }
387 inline const double& Weight33RCM::getIwh1wh2() const { return Iwh1wh2; }
388 inline const double& Weight33RCM::getIwh2twh2t() const { return Iwh2twh2t; }
389 inline const double& Weight33RCM::getIwh2twh2() const { return Iwh2twh2; }
390 inline const double& Weight33RCM::getIwh2wh2() const { return Iwh2wh2; }
391 inline const double& Weight33RCM::getIwh1twh2t() const { return Iwh1twh2t; }
392 inline const double& Weight33RCM::getIwh1xwh1x() const { return Iwh1xwh1x; }
393 inline const double& Weight33RCM::getIwh2xwh2x() const { return Iwh2xwh2x; }
394 inline const double& Weight33RCM::getIwh1xxwh1xx() const { return Iwh1xxwh1xx; }
395 inline const double& Weight33RCM::getIwh2xxwh2xx() const { return Iwh2xxwh2xx; }
396 inline const fmatvec::RowVec& Weight33RCM::getIwh1xxwxxwt() const { return Iwh1xxwxxwt; }
397 inline const fmatvec::RowVec& Weight33RCM::getIwh2xxwxxwt() const { return Iwh2xxwxxwt; }
398 inline const fmatvec::RowVec& Weight33RCM::getIwh1wwt() const { return Iwh1wwt; }
399 inline const fmatvec::RowVec& Weight33RCM::getIwh2wwt() const { return Iwh2wwt; }
400 inline const fmatvec::Vec& Weight33RCM::getIwh1wwtH() const { return Iwh1wwtH; }
401 inline const fmatvec::Vec& Weight33RCM::getIwh2wwtH() const { return Iwh2wwtH; }
402 inline const fmatvec::RowVec& Weight33RCM::getIwh1twwt() const { return Iwh1twwt; }
403 inline const fmatvec::RowVec& Weight33RCM::getIwh2twwt() const { return Iwh2twwt; }
404 inline const fmatvec::Vec& Weight33RCM::getIwh1twwtH() const { return Iwh1twwtH; }
405 inline const fmatvec::Vec& Weight33RCM::getIwh2twwtH() const { return Iwh2twwtH; }
406 inline const fmatvec::RowVec& Weight33RCM::getIwh1xwxwt() const { return Iwh1xwxwt; }
407 inline const fmatvec::RowVec& Weight33RCM::getIwh2xwxwt() const { return Iwh2xwxwt; }
408
409 inline const fmatvec::Vec& Weight33RCM::getw1coef() const { return w1coef; }
410 inline const fmatvec::Vec& Weight33RCM::getw2coef() const { return w2coef; }
411 inline const fmatvec::Vec& Weight33RCM::getw1tcoef() const { return w1tcoef; }
412 inline const fmatvec::Vec& Weight33RCM::getw2tcoef() const { return w2tcoef; }
413 inline const fmatvec::Mat& Weight33RCM::getw1coefqI() const { return w1coefqI; }
414 inline const fmatvec::Mat& Weight33RCM::getw2coefqI() const { return w2coefqI; }
415 inline const fmatvec::Vec& Weight33RCM::getwh1coef() const { return wh1coef; }
416 inline const fmatvec::Vec& Weight33RCM::getwh2coef() const { return wh2coef; }
417 inline const fmatvec::Vec& Weight33RCM::getwh1tcoef() const { return wh1tcoef; }
418 inline const fmatvec::Vec& Weight33RCM::getwh2tcoef() const { return wh2tcoef; }
419 inline const fmatvec::Mat& Weight33RCM::getwh1coefqI() const { return wh1coefqI; }
420 inline const fmatvec::Mat& Weight33RCM::getwh2coefqI() const { return wh2coefqI; }
421 inline fmatvec::Mat Weight33RCM::getwh1coefqIH() const { return wh1coefqI.T(); }
422 inline fmatvec::Mat Weight33RCM::getwh2coefqIH() const { return wh2coefqI.T(); }
423 inline const fmatvec::Mat& Weight33RCM::getwh1tcoefqI() const { return wh1tcoefqI; }
424 inline const fmatvec::Mat& Weight33RCM::getwh2tcoefqI() const { return wh2tcoefqI; }
425 inline const fmatvec::Mat& Weight33RCM::getwh1coefqInunutH() const { return wh1coefqInunutH; }
426 inline const fmatvec::Mat& Weight33RCM::getwh2coefqInunutH() const { return wh2coefqInunutH; }
427
428 inline const fmatvec::Mat& Weight33RCM::gettSqI() const { return tSqI; }
429 inline const fmatvec::Mat& Weight33RCM::getnSqI() const { return nSqI; }
430 inline const fmatvec::Mat& Weight33RCM::getbSqI() const { return bSqI; }
431 inline const fmatvec::Mat& Weight33RCM::getnSqIH() const { return nSqIH; }
432 inline const fmatvec::Mat& Weight33RCM::getbSqIH() const { return bSqIH; }
433 inline const fmatvec::Mat& Weight33RCM::gettStqI() const { return tStqI; }
434 inline const fmatvec::Mat& Weight33RCM::getnStqI() const { return nStqI; }
435 inline const fmatvec::Mat& Weight33RCM::getbStqI() const { return bStqI; }
436
437 inline const double& Weight33RCM::getTtil() const { return Ttil; }
438 inline const fmatvec::RowVec& Weight33RCM::getTtilqI() const { return TtilqI; }
439 inline const fmatvec::SymMat& Weight33RCM::getTtilqItqIt() const { return TtilqItqIt; }
440 inline const fmatvec::Vec& Weight33RCM::getTtilqItqIqIt() const { return TtilqItqIqIt; }
441
442 inline const fmatvec::Mat& Weight33RCM::getdpS() const { return dpS; }
443 inline const fmatvec::Mat& Weight33RCM::getdpSH() const { return dpSH; }
444 /*******************************************************************/
445
446 }
447
448 #endif /*WEIGHT33RCM_H_*/
449
MBSimFlexibleBody::Weight33RCM::computewcoefVel
void computewcoefVel()
computes the time differentiated coefficients of bending polynomials w
Definition: weight33RCM.cc:211
MBSimFlexibleBody::Weight33RCM::w1coef
fmatvec::Vec w1coef
bending coefficients
Definition: weight33RCM.h:266
MBSimFlexibleBody::Weight33RCM::Weight33RCM
Weight33RCM(double l0_, double l0h2_, double l0h3_, Trafo33RCMPtr tf_)
constructor
Definition: weight33RCM.cc:33
MBSimFlexibleBody::Weight33RCM::computedpS
void computedpS()
compute delta matrix for CP with respect to rotation
Definition: weight33RCM.cc:403
MBSimFlexibleBody::Weight33RCM::l0
double l0
length of FEM1s33RCM
Definition: weight33RCM.h:236
MBSimFlexibleBody::Weight33RCM::dpS
fmatvec::Mat dpS
delta matrix for pS
Definition: weight33RCM.h:305
MBSimFlexibleBody::Weight33RCM::~Weight33RCM
virtual ~Weight33RCM()
Destructor.
MBSimFlexibleBody::Weight33RCM::computewcoefPosD
void computewcoefPosD()
computes the derivative of w-coefficients with respect to bending coordinates
Definition: weight33RCM.cc:248
MBSimFlexibleBody::Weight33RCM::computewcoef
fmatvec::Vec computewcoef(double dL, double dR, double bL, double bR) const
computes the coefficients of w and wt
Definition: weight33RCM.cc:322
MBSimFlexibleBody::Weight33RCM::computewhcoefVelD
void computewhcoefVelD()
computes bending polynomial values on velocity level
Definition: weight33RCM.cc:278
MBSimFlexibleBody::Weight33RCM::computeint
void computeint()
computes the integrals of bending polynomials
Definition: weight33RCM.cc:136
MBSimFlexibleBody::Weight33RCM::omgt
double omgt
omgtS
Definition: weight33RCM.h:284
MBSimFlexibleBody::Weight33RCM
integrals of bending parametrisation for FiniteElement1s33RCM
Definition: weight33RCM.h:33
MBSimFlexibleBody::Weight33RCM::computeomgt
void computeomgt(double x)
compute angular velocity around tangent
Definition: weight33RCM.cc:337
MBSimFlexibleBody::Weight33RCM::computewhcoefPosD
void computewhcoefPosD()
computes bending polynomial values on position level
Definition: weight33RCM.cc:258
MBSimFlexibleBody::Weight33RCM::tSqI
fmatvec::Mat tSqI
COSY.
Definition: weight33RCM.h:275
MBSimFlexibleBody::Weight33RCM::setCurvature
void setCurvature(double k10_, double k20_)
Definition: weight33RCM.h:357
MBSimFlexibleBody::Weight33RCM::Iwh1
double Iwh1
special integrals
Definition: weight33RCM.h:253
MBSimFlexibleBody::Weight33RCM::gp
fmatvec::Vec gp
Gauss integration.
Definition: weight33RCM.h:299
MBSimFlexibleBody::Weight33RCM::computewcoefPos
void computewcoefPos()
computes the coefficients of bending polynomials w
Definition: weight33RCM.cc:198
MBSimFlexibleBody::Weight33RCM::tf
Trafo33RCMPtr tf
Trafo-Object.
Definition: weight33RCM.h:231
MBSimFlexibleBody::Weight33RCM::k10
double k10
predefined bendings
Definition: weight33RCM.h:241
MBSimFlexibleBody::Weight33RCM::Ttil
double Ttil
rotational kinetic energy
Definition: weight33RCM.h:291
MBSimFlexibleBody::Weight33RCM::computeT
void computeT()
compute rotational kinetic energy
Definition: weight33RCM.cc:384
MBSimFlexibleBody::Weight33RCM::computeintD
void computeintD(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
computes the vector integrals of bending polynomials
Definition: weight33RCM.cc:165
MBSimFlexibleBody::Weight33RCM::computewhcoefVel
void computewhcoefVel()
computes the coefficients of bending polynomials w and wh and their time derivatives
Definition: weight33RCM.cc:239
MBSimFlexibleBody::Weight33RCM::computew
fmatvec::Vec computew(const fmatvec::Vec &wt, double x) const
evaluates the bending polynomial and its x-derivative
Definition: weight33RCM.cc:185
MBSimFlexibleBody::Weight33RCM::computewhcoefPos
void computewhcoefPos()
computes the coefficients of bending polynomials w and wh
Definition: weight33RCM.cc:224
MBSimFlexibleBody::Weight33RCM::setGauss
void setGauss(int nGauss)
Definition: weight33RCM.cc:76
MBSimFlexibleBody::Weight33RCM::Ivvt
fmatvec::RowVec Ivvt
general integrals
Definition: weight33RCM.h:246