mbsim 4.0.0 MBSim Kernel

Public Member Functions | Protected Attributes | List of all members
MBSim::FixedRelativeFrame Class Reference

cartesian frame on rigid bodies More...

`#include <fixed_relative_frame.h>`

Inheritance diagram for MBSim::FixedRelativeFrame:
[legend]

## Public Member Functions

| FixedRelativeFrame (const std::string &name="dummy", const fmatvec::Vec3 &r=fmatvec::Vec3(), const fmatvec::SqrMat3 &A=fmatvec::SqrMat3(fmatvec::EYE), Frame *refFrame=nullptr)
void | init (InitStage stage, const InitConfigSet &config) override
| plots time series header More...
void | setRelativePosition (const fmatvec::Vec3 &r)
void | setRelativeOrientation (const fmatvec::SqrMat3 &A)
void | setFrameOfReference (Frame *frame)
void | setFrameOfReference (const std::string &frame)
const fmatvec::Vec3 & | getRelativePosition () const
const fmatvec::SqrMat3 & | getRelativeOrientation () const
const Frame * | getFrameOfReference () const
const fmatvec::Vec3 & | evalGlobalRelativePosition ()
void | updatePositions () override
void | updateVelocities () override
void | updateAccelerations () override
void | updateJacobians (int j=0) override
void | updateGyroscopicAccelerations () override
void | initializeUsingXML (xercesc::DOMElement *element) override
Public Member Functions inherited from MBSim::Frame
| Frame (const std::string &name="dummy")
| constructor More...
| ~Frame () override=default
| destructor
void | init (InitStage stage, const InitConfigSet &config) override
| plots time series header More...
void | plot () override
| plots time dependent data More...
int | gethSize (int i=0) const
int | gethInd (int i=0) const
void | sethSize (int size, int i=0)
void | sethInd (int ind, int i=0)
const fmatvec::Vec3 & | getPosition (bool check=true) const
fmatvec::Vec3 & | getPosition (bool check=true)
void | setPosition (const fmatvec::Vec3 &v)
const fmatvec::Vec3 & | evalPosition ()
const fmatvec::SqrMat3 & | getOrientation (bool check=true) const
fmatvec::SqrMat3 & | getOrientation (bool check=true)
void | setOrientation (const fmatvec::SqrMat3 &AWP_)
const fmatvec::SqrMat3 & | evalOrientation ()
const fmatvec::Vec3 & | getVelocity (bool check=true) const
fmatvec::Vec3 & | getVelocity (bool check=true)
void | setVelocity (const fmatvec::Vec3 &v)
const fmatvec::Vec3 & | evalVelocity ()
const fmatvec::Vec3 & | getAngularVelocity (bool check=true) const
fmatvec::Vec3 & | getAngularVelocity (bool check=true)
void | setAngularVelocity (const fmatvec::Vec3 &omega)
const fmatvec::Vec3 & | evalAngularVelocity ()
const fmatvec::Vec3 & | getAcceleration (bool check=true) const
fmatvec::Vec3 & | getAcceleration (bool check=true)
void | setAcceleration (const fmatvec::Vec3 &a)
const fmatvec::Vec3 & | evalAcceleration ()
const fmatvec::Vec3 & | getAngularAcceleration (bool check=true) const
fmatvec::Vec3 & | getAngularAcceleration (bool check=true)
void | setAngularAcceleration (const fmatvec::Vec3 &psi)
const fmatvec::Vec3 & | evalAngularAcceleration ()
const fmatvec::Mat3xV & | getJacobianOfTranslation (int j=0, bool check=true) const
fmatvec::Mat3xV & | getJacobianOfTranslation (int j=0, bool check=true)
void | setJacobianOfTranslation (const fmatvec::Mat3xV &WJP_, int j=0)
const fmatvec::Mat3xV & | evalJacobianOfTranslation (int j=0)
const fmatvec::Mat3xV & | getJacobianOfRotation (int j=0, bool check=true) const
fmatvec::Mat3xV & | getJacobianOfRotation (int j=0, bool check=true)
void | setJacobianOfRotation (const fmatvec::Mat3xV &WJR_, int j=0)
const fmatvec::Mat3xV & | evalJacobianOfRotation (int j=0)
const fmatvec::Vec3 & | getGyroscopicAccelerationOfTranslation (bool check=true) const
fmatvec::Vec3 & | getGyroscopicAccelerationOfTranslation (bool check=true)
void | setGyroscopicAccelerationOfTranslation (const fmatvec::Vec3 &WjP_)
const fmatvec::Vec3 & | evalGyroscopicAccelerationOfTranslation ()
const fmatvec::Vec3 & | getGyroscopicAccelerationOfRotation (bool check=true) const
fmatvec::Vec3 & | getGyroscopicAccelerationOfRotation (bool check=true)
void | setGyroscopicAccelerationOfRotation (const fmatvec::Vec3 &WjR_)
const fmatvec::Vec3 & | evalGyroscopicAccelerationOfRotation ()
void | initializeUsingXML (xercesc::DOMElement *element) override
| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBV, tag,(optional(size,(double), 1)(offset,(double), 1)(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
void | setOpenMBVFrame (const std::shared_ptr< OpenMBV::Frame > &frame)
std::shared_ptr< OpenMBV::Frame > & | getOpenMBVFrame ()
void | resetUpToDate () override
virtual void | resetPositionsUpToDate ()
virtual void | resetVelocitiesUpToDate ()
virtual void | resetJacobiansUpToDate ()
virtual void | resetGyroscopicAccelerationsUpToDate ()
void | createPlotGroup () override
| creates the plotGroup for H5-output
Public Member Functions inherited from MBSim::Element
| Element (const std::string &name)
| constructor
| ~Element () override=default
| destructor
void | throwError (const std::string &msg) const
virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys)
| sets the used dynamics system solver to the element More...
virtual void | plotAtSpecialEvent ()
| plots time dependent data at special events More...
const std::string & | getName () const
void | setName (const std::string &str)
void | setPath (const std::string &str)
DynamicSystemSolver * | getDynamicSystemSolver ()
H5::GroupBase * | getPlotGroup ()
virtual H5::GroupBase * | getFramesPlotGroup ()
virtual H5::GroupBase * | getContoursPlotGroup ()
virtual H5::GroupBase * | getGroupsPlotGroup ()
virtual H5::GroupBase * | getObjectsPlotGroup ()
virtual H5::GroupBase * | getLinksPlotGroup ()
virtual H5::GroupBase * | getConstraintsPlotGroup ()
virtual H5::GroupBase * | getObserversPlotGroup ()
bool | getPlotFeature (const PlotFeatureEnum &pf)
virtual void | setPlotFeature (const PlotFeatureEnum &pf, bool value)
| Set a plot feature. More...
void | setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
| Set a plot feature for the children of this object. More...
void | setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
| Set a plot feature for this object and the children of this object. More...
template<class T >
void | setPlotAttribute (const std::string &name, const T &value)
| Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.
void | setPlotAttribute (const std::string &name)
template<class T >
T * | getByPath (const std::string &path, bool initialCaller=true) const
| Get the object of type T represented by the path path. Do not set any argurment other than path!
std::string | getPath (const Element *relTo=nullptr, std::string sep="/") const
| Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!
virtual Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const
| Get the Element named name in the container named container.
virtual std::shared_ptr< OpenMBV::Group > | getOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getFramesOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getContoursOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getGroupsOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getObjectsOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getLinksOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getConstraintsOpenMBVGrp ()
virtual std::shared_ptr< OpenMBV::Group > | getObserversOpenMBVGrp ()
virtual Element * | getParent ()
virtual const Element * | getParent () const
virtual void | setParent (Element *parent_)
std::vector< Element * > | getDependencies () const
| checks dependency on other elements. More...
void | addDependency (Element *ele)
int | computeLevel ()
| computes the length of the pathes in the graph that represents the dependencies between all elements. More...
virtual void | updatePositions (Frame *frame)
virtual void | updateVelocities (Frame *frame)
virtual void | updateAccelerations (Frame *frame)
virtual void | updateJacobians (Frame *frame, int j=0)
virtual void | updateGyroscopicAccelerations (Frame *frame)
const double & | getTime () const
double | getStepSize () const
const MBXMLUtils::DOMEvalException & | getDOMEvalError () const

## Protected Attributes

Frame * | R
fmatvec::Vec3 | RrRP
fmatvec::Vec3 | WrRP
fmatvec::SqrMat3 | ARP
std::string | saved_frameOfReference
Protected Attributes inherited from MBSim::Frame
int | hSize [2]
| size and index of right hand side
int | hInd [2]
fmatvec::Vec3 | WrOP
| position of coordinate system in inertial frame of reference
fmatvec::SqrMat3 | AWP
| transformation matrix in inertial frame of reference
fmatvec::Vec3 | WvP
| velocity and angular velocity of coordinate system in inertial frame of reference
fmatvec::Vec3 | WomegaP
fmatvec::Mat3xV | WJP [3]
| Jacobians of translation and rotation from coordinate system to inertial frame.
fmatvec::Mat3xV | WJR [3]
fmatvec::Vec3 | WjP
fmatvec::Vec3 | WjR
fmatvec::Vec3 | WaP
| acceleration and angular acceleration of coordinate system in inertial frame of reference
fmatvec::Vec3 | WpsiP
std::shared_ptr< OpenMBV::Frame > | openMBVFrame
bool | updJac [3]
bool | updGA {true}
bool | updPos {true}
bool | updVel {true}
bool | updAcc {true}
Protected Attributes inherited from MBSim::Element
Element * | parent
std::string | name
| name of element
std::string | path
| The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.
MBXMLUtils::DOMEvalException | domEvalError
| Special XML helper variable.
DynamicSystemSolver * | ds
| dynamic system
H5::VectorSerie< double > * | plotVectorSerie
| time series
std::vector< double > | plotVector
| one entry of time series
std::vector< std::string > | plotColumns
| columns of time series
H5::GroupBase * | plotGroup
| associated plot group
std::vector< Element * > | dependency
| vector containing all dependencies.
PlotFeatureMap | plotFeature
| plot feature
PlotFeatureMap | plotFeatureForChildren
std::map< std::string, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > > | plotAttribute

## Additional Inherited Members

Public Types inherited from MBSim::Element
enum | InitStage { resolveStringRef =0, preInit, plotting, unknownStage, LASTINITSTAGE }
| The stages of the initialization. More...
Protected Member Functions inherited from MBSim::Element
void | updatePlotFeatures ()
void | addToPlot (const std::string &name)
void | addToPlot (const std::string &name, int size)
void | addToPlot (const std::string &name, const std::vector< std::string > &iname)
template<class AT >
void | plot (const AT &x)
template<class Type , class AT >
void | plot (const fmatvec::Vector< Type, AT > &x)

## Detailed Description

cartesian frame on rigid bodies

Author
  Martin Foerg

## Member Function Documentation

## ◆ init()

void MBSim::FixedRelativeFrame::init | ( | InitStage | stage,
|  | const InitConfigSet & | config
| ) |  |

override virtual

plots time series header

Parameters

  invocing | parent class

Reimplemented from MBSim::Element.

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

- /mbsim-env/mbsim/kernel/mbsim/frames/fixed_relative_frame.h
- /mbsim-env/mbsim/kernel/mbsim/frames/fixed_relative_frame.cc