mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

Public Member Functions | Private Member Functions | Private Attributes | List of all members
MBSimFlexibleBody::Trafo33RCM Class Reference

transformation of coordinates for FiniteElement1s33RCM More...

`#include <trafo33RCM.h>`

## Public Member Functions

| Trafo33RCM (RevCardanPtr angle_, double l0_)
| constructor
virtual | ~Trafo33RCM ()
| destructor
const fmatvec::SqrMat & | getJIG () const
const fmatvec::SqrMat & | getJIGt () const
const fmatvec::Vec & | getpS () const
const fmatvec::Vec & | getpSt () const
const fmatvec::Vec & | gettS () const
const fmatvec::Vec & | getnS () const
const fmatvec::Vec & | getbS () const
const fmatvec::RowVec & | getnSH () const
const fmatvec::RowVec & | getbSH () const
const fmatvec::Vec & | getntilS () const
const fmatvec::Vec & | getbtilS () const
const fmatvec::RowVec & | getntilSH () const
const fmatvec::RowVec & | getbtilSH () const
const fmatvec::Vec & | gettSt () const
const fmatvec::Vec & | getnSt () const
const fmatvec::Vec & | getbSt () const
const fmatvec::RowVec & | gettStH () const
const fmatvec::RowVec & | getnStH () const
const fmatvec::RowVec & | getbStH () const
const fmatvec::RowVec & | getntilStH () const
const fmatvec::RowVec & | getbtilStH () const
const fmatvec::SqrMat & | gettSpS () const
const fmatvec::SqrMat & | getnSpS () const
const fmatvec::SqrMat & | getbSpS () const
const fmatvec::SqrMat & | getntilSpS () const
const fmatvec::SqrMat & | getbtilSpS () const
const fmatvec::SqrMat & | gettSpSt () const
const fmatvec::SqrMat & | getnSpSt () const
const fmatvec::SqrMat & | getbSpSt () const
const fmatvec::SqrMat & | getntilSpSt () const
const fmatvec::SqrMat & | getbtilSpSt () const
const fmatvec::Vec & | getqIt () const
const double & | getepstil () const
const double & | getepstilt () const
const fmatvec::Vec & | getrS () const
const fmatvec::Vec & | getrSt () const
const double & | getk0 () const
const double & | getk0t () const
const fmatvec::Vec & | getbe () const
const fmatvec::Vec & | getbet () const
const double & | getxintil () const
const double & | getxibtil () const
const double & | getetantil () const
const double & | getetabtil () const
const double & | getxintilt () const
const double & | getxibtilt () const
const double & | getetantilt () const
const double & | getetabtilt () const
const fmatvec::SqrMat & | getV () const
void | computeqI (const fmatvec::Vec &qG)
| compute the internal coordinates More...
void | computeJIG (const fmatvec::Vec &qG)
| compute the Jacobian of the trafo More...
void | computezI (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| compute the internal state More...
void | computeCOSYt (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| compute the internal time differentiated COSY More...
void | computeTrafo (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| compute the internal coordinates and velocities as well as JIGt More...

## Private Member Functions

void | computeprelim (const fmatvec::Vec &qG)
| computes preliminaries More...
fmatvec::Vec | computes0 (const fmatvec::Vec &qG)
| compute the initial value for computebe() More...
void | computebe (const fmatvec::Vec &qG)
| compute the angle and bending positions More...
void | computeCOSY ()
| compute the COSY
void | computerSepstk0 (const fmatvec::Vec &qG)
| compute the CP, prolongation and torsion More...
void | computedrRdrL ()
| compute delta matrix for right and left beam end
void | computeV ()
| compute the derivative of coefficients of bending polynomials w with respect to bending coordinates
void | computebeqG ()
| compute the derivative of bE with respect to qG
void | computeCOSYqG ()
| compute the derivative of COSY with respect to qG
void | computeCOSYt ()
| compute the derivative of COSY with respect to time
void | computeJIGt (const fmatvec::Vec &qGt)
| compute the derivative of JIG with respect to time More...

## Private Attributes

RevCardanPtr | angle
| reversed Cardan-Object
double | l0
| length of FiniteElement1s33RCM and powers
double | l0h2
double | l0h3
double | l0h4
double | l0h5
double | xstar
double | xstarh2
double | xstarh3
double | epstil
| internal coordinates of the FiniteElement1s33RCM
double | k0
fmatvec::Vec | rS
fmatvec::Vec | pS
fmatvec::Vec | rRrLp
| sum of right and left translational vector as well as transpose of the difference
fmatvec::RowVec | rRrLmH
fmatvec::Vec | be
| bending coordinates
fmatvec::Vec | tS
| COSY definitions.
fmatvec::Vec | nS
fmatvec::Vec | bS
fmatvec::Vec | ntilS
fmatvec::Vec | btilS
fmatvec::RowVec | nSH
fmatvec::RowVec | bSH
fmatvec::RowVec | ntilSH
fmatvec::RowVec | btilSH
fmatvec::SqrMat | tSpS
fmatvec::SqrMat | nSpS
fmatvec::SqrMat | bSpS
fmatvec::SqrMat | ntilSpS
fmatvec::SqrMat | btilSpS
double | xibtil
double | xintil
double | etabtil
double | etantil
fmatvec::Mat | SMRHS_Jac
| system matrix and right hand side for computebe()
fmatvec::SqrMat | V
| derivative of coefficients of bending polynomials w with respect to bending coordinates
fmatvec::Mat | drRdrLp
| delta matrices for computebe()
fmatvec::Mat | drRdrLm
fmatvec::Mat | pSbE
fmatvec::Mat | SMRHS
| COSY definitions for computebe()
fmatvec::Mat | nSbE
fmatvec::Mat | bSbE
fmatvec::Mat | ntilSbE
fmatvec::Mat | btilSbE
fmatvec::RowVec | xibtilbE
fmatvec::RowVec | xintilbE
fmatvec::RowVec | etabtilbE
fmatvec::RowVec | etantilbE
fmatvec::Mat | beqG
| derivative of be and COSY with respect to qG
fmatvec::Mat | tSqG
fmatvec::Mat | nSqG
fmatvec::Mat | bSqG
fmatvec::Mat | ntilSqG
fmatvec::Mat | btilSqG
fmatvec::RowVec | xintilqG
fmatvec::RowVec | xibtilqG
fmatvec::RowVec | etantilqG
fmatvec::RowVec | etabtilqG
fmatvec::SqrMat | JIG
| Jacobian and differentiated Jacobian.
fmatvec::SqrMat | JIGt
double | k0t
| derivative of k0, epstilt, qI, rS, be and COSY with respect to time
double | epstilt
fmatvec::Vec | qIt
fmatvec::Vec | rSt
fmatvec::Vec | bet
fmatvec::Vec | pSt
fmatvec::Vec | tSt
fmatvec::Vec | nSt
fmatvec::Vec | bSt
fmatvec::RowVec | tStH
fmatvec::RowVec | nStH
fmatvec::RowVec | bStH
fmatvec::RowVec | ntilStH
fmatvec::RowVec | btilStH
fmatvec::SqrMat | tSpSt
fmatvec::SqrMat | nSpSt
fmatvec::SqrMat | bSpSt
fmatvec::SqrMat | ntilSpSt
fmatvec::SqrMat | btilSpSt
double | xibtilt
double | xintilt
double | etabtilt
double | etantilt

## Detailed Description

transformation of coordinates for FiniteElement1s33RCM

Author
  Thorsten Schindler

Date
  2009-04-24 initial commit (Thorsten Schindler)

## Member Function Documentation

## ◆ computebe()

void MBSimFlexibleBody::Trafo33RCM::computebe | ( | const fmatvec::Vec & | qG | ) |

private

compute the angle and bending positions

Parameters

  global | coordinates

## ◆ computeCOSYt()

void MBSimFlexibleBody::Trafo33RCM::computeCOSYt | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

compute the internal time differentiated COSY

Parameters

  global | coordinates
  global | velocities

## ◆ computeJIG()

void MBSimFlexibleBody::Trafo33RCM::computeJIG | ( | const fmatvec::Vec & | qG | ) |

compute the Jacobian of the trafo

Parameters

  global | coordinates

## ◆ computeJIGt()

void MBSimFlexibleBody::Trafo33RCM::computeJIGt | ( | const fmatvec::Vec & | qGt | ) |

private

compute the derivative of JIG with respect to time

Parameters

  global | velocities

## ◆ computeprelim()

void MBSimFlexibleBody::Trafo33RCM::computeprelim | ( | const fmatvec::Vec & | qG | ) |

private

computes preliminaries

Parameters

  global | coordinates

## ◆ computeqI()

void MBSimFlexibleBody::Trafo33RCM::computeqI | ( | const fmatvec::Vec & | qG | ) |

compute the internal coordinates

Parameters

  global | coordinates

## ◆ computerSepstk0()

void MBSimFlexibleBody::Trafo33RCM::computerSepstk0 | ( | const fmatvec::Vec & | qG | ) |

private

compute the CP, prolongation and torsion

Parameters

  global | coordinates

## ◆ computes0()

Vec MBSimFlexibleBody::Trafo33RCM::computes0 | ( | const fmatvec::Vec & | qG | ) |

private

compute the initial value for computebe()

Parameters

  global | coordinates

## ◆ computeTrafo()

void MBSimFlexibleBody::Trafo33RCM::computeTrafo | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

compute the internal coordinates and velocities as well as JIGt

Parameters

  global | coordinates
  global | velocities

## ◆ computezI()

void MBSimFlexibleBody::Trafo33RCM::computezI | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

compute the internal state

Parameters

  global | coordinates
  global | velocities

The documentation for this class was generated from the following files:

- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/trafo33RCM.h
- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/trafo33RCM.cc