mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

1s_21_rcm.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 _FLEXIBLE_BODY_1S_21_RCM_H_
21 #define _FLEXIBLE_BODY_1S_21_RCM_H_
22
23 #include "mbsimFlexibleBody/flexible_body/1s.h"
24
25 namespace MBSimFlexibleBody {
26
27 class Frame1s;
28 class NodeFrame;
29
50 class FlexibleBody1s21RCM : public FlexibleBody1s {
51 public:
57 FlexibleBody1s21RCM(const std::string &name, bool openStructure);
58
59 /* INHERITED INTERFACE OF FLEXIBLE BODY */
60 void BuildElements() override;
61
62 void GlobalVectorContribution(int n, const fmatvec::Vec& locVec, fmatvec::Vec& gloVec) override;
63 void GlobalMatrixContribution(int n, const fmatvec::Mat& locMat, fmatvec::Mat& gloMat) override;
64 void GlobalMatrixContribution(int n, const fmatvec::SymMat& locMat, fmatvec::SymMat& gloMat) override;
65
66 void exportPositionVelocity(const std::string& filenamePos, const std::string& filenameVel = std::string( ), const int & deg = 3, const bool &writePsFile = false) override;
67 void importPositionVelocity(const std::string& filenamePos, const std::string& filenameVel = std::string( )) override;
68
69 void updatePositions(Frame1s* frame) override;
70 void updateVelocities(Frame1s* frame) override;
71 void updateAccelerations(Frame1s* frame) override;
72 void updateJacobians(Frame1s* frame, int j=0) override;
73 void updateGyroscopicAccelerations(Frame1s* frame) override;
74
75 virtual void updatePositions(NodeFrame* frame);
76 virtual void updateVelocities(NodeFrame* frame);
77 virtual void updateAccelerations(NodeFrame* frame);
78 virtual void updateJacobians(NodeFrame* frame, int j=0);
79 virtual void updateGyroscopicAccelerations(NodeFrame* frame);
80 /****************************************/
81
82 /* INHERITED INTERFACE OF OBJECT */
83 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
84 /***************************************************/
85
86 /* INHERITED INTERFACE OF ELEMENT */
87 void plot() override;
88 /***************************************************/
89
90 /* GETTER / SETTER */
94 void setNumberElements(int n);
95 int getNumberElements(){return Elements;}
96 double getLength(){return L;}
97 void setEModul(double E_) { E = E_; }
98 void setCrossSectionalArea(double A_) { A = A_; }
99 void setMomentInertia(double I_) { I = I_; }
100 void setDensity(double rho_) { rho = rho_; }
101 void setCurlRadius(double r);
102 void setMaterialDamping(double d);
103 void setLehrDamping(double d);
104 void setElementPlotList(const fmatvec::VecInt& plotElements_) {plotElements <<= plotElements_;}
105 /***************************************************/
106
111 fmatvec::Vec3 getPositions(double x);
112
117 fmatvec::Vec3 getVelocities(double x);
118
122 double computePhysicalStrain(double sGlobal);
123
128 void initRelaxed(double alpha);
129
133 void initInfo();
134
135 protected:
142 void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
143
147 int Elements;
148
152 double l0;
153
157 double E;
158
162 double A;
163
167 double I;
168
172 double rho;
173
177 double rc;
178
182 double dm;
183
187 double dl;
188
192 fmatvec::VecInt plotElements;
193
197 bool initialized;
198 };
199
200 }
201
202 #endif /* _FLEXIBLE_BODY_1S_21_RCM_H_ */
MBSimFlexibleBody::FlexibleBody1s21RCM::plotElements
fmatvec::VecInt plotElements
variables to plot in addition to state
Definition: 1s_21_rcm.h:192
MBSimFlexibleBody::FlexibleBody1s21RCM::initialized
bool initialized
flag for testing if beam is initialised
Definition: 1s_21_rcm.h:197
MBSimFlexibleBody::FlexibleBody1s21RCM::rho
double rho
material density
Definition: 1s_21_rcm.h:172
MBSimFlexibleBody::FlexibleBody1s
tbd
Definition: 1s.h:33
MBSimFlexibleBody::Frame1s
Definition: frame_1s.h:27
MBSimFlexibleBody::FlexibleBody1s21RCM::BuildElement
void BuildElement(const double &sGlobal, double &sLocal, int &currentElement)
detect current finite element
Definition: 1s_21_rcm.cc:497
MBSimFlexibleBody::FlexibleBody1s21RCM::rc
double rc
curl radius
Definition: 1s_21_rcm.h:177
MBSimFlexibleBody::FlexibleBody1s21RCM::GlobalVectorContribution
void GlobalVectorContribution(int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
insert 'local' information in global vectors
Definition: 1s_21_rcm.cc:69
MBSimFlexibleBody::FlexibleBody1s21RCM::Elements
int Elements
number of finite elements used for discretisation
Definition: 1s_21_rcm.h:147
MBSimFlexibleBody::FlexibleBody1s21RCM
model for planar beams with large deflection using Redundant Coordinate Method (RCM)
Definition: 1s_21_rcm.h:50
MBSimFlexibleBody::FlexibleBody1s21RCM::FlexibleBody1s21RCM
FlexibleBody1s21RCM(const std::string &name, bool openStructure)
constructor:
Definition: 1s_21_rcm.cc:44
MBSimFlexibleBody::FlexibleBody1s::openStructure
bool openStructure
flag for open (cantilever beam) or closed (rings) structures
Definition: 1s.h:73
MBSimFlexibleBody::FlexibleBody1s21RCM::GlobalMatrixContribution
void GlobalMatrixContribution(int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) override
insert 'local' information in global matrices
Definition: 1s_21_rcm.cc:81
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::FlexibleBody1s21RCM::l0
double l0
length of one finite element
Definition: 1s_21_rcm.h:152
MBSimFlexibleBody::FlexibleBody1s21RCM::I
double I
moment of inertia of cross-section
Definition: 1s_21_rcm.h:167
MBSim::Element::name
std::string name
MBSim::Body::frame
std::vector< Frame * > frame
MBSimFlexibleBody::FlexibleBody1s21RCM::computePhysicalStrain
double computePhysicalStrain(double sGlobal)
computes the phyiscal strain (compare Zander p.71) of the element, defined by the global position
Definition: 1s_21_rcm.cc:305
MBSimFlexibleBody::FlexibleBody1s21RCM::BuildElements
void BuildElements() override
references finite element coordinates to assembled coordinates
Definition: 1s_21_rcm.cc:47
MBSimFlexibleBody::FlexibleBody1s21RCM::initInfo
void initInfo()
initialise beam only for giving information with respect to state, number elements,...
Definition: 1s_21_rcm.cc:345
MBSimFlexibleBody::FlexibleBody1s21RCM::E
double E
modulus of linear elasticity
Definition: 1s_21_rcm.h:157
MBSimFlexibleBody::FlexibleBody1s21RCM::A
double A
cross-section area
Definition: 1s_21_rcm.h:162
MBSimFlexibleBody::FlexibleBody1s21RCM::initRelaxed
void initRelaxed(double alpha)
initialise beam state concerning a straight cantilever setting or a circle shaped ring
Definition: 1s_21_rcm.cc:312
MBSimFlexibleBody::FlexibleBody1s21RCM::getVelocities
fmatvec::Vec3 getVelocities(double x)
compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates
Definition: 1s_21_rcm.cc:298
MBSimFlexibleBody::FlexibleBody1s21RCM::dm
double dm
coefficient of material damping
Definition: 1s_21_rcm.h:182
MBSimFlexibleBody::FlexibleBody1s21RCM::getPositions
fmatvec::Vec3 getPositions(double x)
compute positions and angle at Lagrangian coordinate in local FE coordinates
Definition: 1s_21_rcm.cc:291
MBSimFlexibleBody::FlexibleBody1s21RCM::setNumberElements
void setNumberElements(int n)
sets size of positions and velocities
Definition: 1s_21_rcm.cc:258
MBSimFlexibleBody::NodeFrame
cartesian frame on nodes of flexible bodies
Definition: node_frame.h:31
MBSimFlexibleBody::FlexibleBody1s21RCM::importPositionVelocity
void importPositionVelocity(const std::string &filenamePos, const std::string &filenameVel=std::string()) override
imports the interpolated position and optional the velocity files (created with exportPositionVelocit...
Definition: 1s_21_rcm.cc:420
MBSimFlexibleBody::FlexibleBody1s::L
double L
length of beam
Definition: 1s.h:68
MBSimFlexibleBody::FlexibleBody1s21RCM::exportPositionVelocity
void exportPositionVelocity(const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false) override
interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-packa...
Definition: 1s_21_rcm.cc:356
MBSimFlexibleBody::FlexibleBody1s21RCM::dl
double dl
coefficient of Lehr-damping
Definition: 1s_21_rcm.h:187