mbsim 4.0.0 MBSim Kernel

object.h
1 /* Copyright (C) 2004-2014 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: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _OBJECT_H_
21 #define _OBJECT_H_
22
23 #include "mbsim/element.h"
24
25 namespace MBSim {
26
27 extern const PlotFeatureEnum generalizedPosition, generalizedVelocity, derivativeOfGeneralizedPosition, generalizedAcceleration;
28
29 class DynamicSystem;
30 class Link;
31
42 class Object : public Element {
43 public:
47 Object(const std::string &name);
48
49 virtual void calcSize() { }
50 int getGeneralizedPositionSize() { if(updSize) calcSize(); return nq; }
51 int getGeneralizedVelocitySize() { if(updSize) calcSize(); return nu; }
52
53 virtual void updateT() { }
54 virtual void updateh(int j=0) { }
55 virtual void updateM() { }
56 virtual void updatedhdz();
57 virtual void updatedq();
58 virtual void updatedu();
59 virtual void updateud();
60 virtual void updateqd();
61 virtual void sethSize(int hSize_, int i=0) { hSize[i] = hSize_; }
62 int gethSize(int i=0) const { return hSize[i]; }
63 int getqSize() const { return qSize; }
64 int getuSize(int i=0) const { return uSize[i]; }
65 virtual void calcqSize() { }
66 virtual void calcuSize(int j) { }
67 int getqInd() { return qInd; }
68 int getuInd(int i=0) { return uInd[i]; }
69 virtual void setqInd(int qInd_) { qInd = qInd_; }
70 virtual void setuInd(int uInd_, int i=0) { uInd[i] = uInd_; }
71 const fmatvec::Vec& getq() const { return q; }
72 const fmatvec::Vec& getu() const { return u; }
73 virtual H5::GroupBase *getPlotGroup() { return plotGroup; }
74
75 /* INHERITED INTERFACE OF ELEMENT */
76 void plot() override;
77 /*******************************************************/
78
83 virtual void updateqRef(fmatvec::Vec& qRef);
84
89 virtual void updateqdRef(fmatvec::Vec& qdRef);
90
95 virtual void updatedqRef(fmatvec::Vec& dqRef);
96
101 virtual void updateuRef(fmatvec::Vec& uRef);
102
107 virtual void updateuallRef(fmatvec::Vec& uallRef);
108
113 virtual void updateudRef(fmatvec::Vec& udRef);
114
119 virtual void updateduRef(fmatvec::Vec& duRef);
120
125 virtual void updateudallRef(fmatvec::Vec& udallRef);
126
132 virtual void updatehRef(fmatvec::Vec& hRef, int i=0);
133
139 virtual void updatedhdqRef(fmatvec::Mat& dhdqRef, int i=0);
140
146 virtual void updatedhduRef(fmatvec::SqrMat& dhduRef, int i=0);
147
153 virtual void updatedhdtRef(fmatvec::Vec& dhdtRef, int i=0);
154
159 virtual void updaterRef(fmatvec::Vec& ref, int i=0);
160
165 virtual void updaterdtRef(fmatvec::Vec& ref);
166
171 virtual void updateTRef(fmatvec::Mat &ref);
172
178 virtual void updateMRef(fmatvec::SymMat &ref);
179
185 virtual void updateLLMRef(fmatvec::SymMat &ref);
186
190 void init(InitStage stage, const InitConfigSet &config) override;
191
195 virtual void initz();
196
200 virtual void writez(H5::GroupBase *group);
201
205 virtual void readz0(H5::GroupBase *group);
206
210 virtual void updateLLM() { LLM = facLL(evalM()); }
211
215 virtual void setUpInverseKinetics() { }
216 /*******************************************************/
217
218 /* GETTER / SETTER */
219 void setqSize(int qSize_) { qSize = qSize_; }
220 void setuSize(int uSize_, int i=0) { uSize[i] = uSize_; }
221 int getzSize() const { return qSize + uSize[0]; }
222
223 virtual void sethInd(int hInd_, int i=0) { hInd[i] = hInd_; }
224 int gethInd(int i=0) { return hInd[i]; }
225
226 const fmatvec::SymMat& getM(bool check=true) const;
227 fmatvec::SymMat& getM(bool check=true);
228 const fmatvec::Vec& geth(int i=0, bool check=true) const;
229 fmatvec::Vec& geth(int i=0, bool check=true);
230
231 fmatvec::Vec& getq() { return q; };
232 fmatvec::Vec& getu() { return u; };
233
234 const fmatvec::Vec& getq0() const { return q0; };
235 const fmatvec::Vec& getu0() const { return u0; };
236 fmatvec::Vec& getq0() { return q0; };
237 fmatvec::Vec& getu0() { return u0; };
238
239 const fmatvec::Mat& evalT();
240 const fmatvec::Vec& evalh(int i=0);
241 const fmatvec::SymMat& evalM();
242 const fmatvec::SymMat& evalLLM();
243 const fmatvec::Vec& evalr(int i=0);
244 const fmatvec::Vec& evalrdt();
245 const fmatvec::Vec& evalqd();
246 const fmatvec::Vec& evalud();
247 const fmatvec::Vec& evaludall();
248
249 fmatvec::Vec& getud(bool check=true);
250 fmatvec::Vec& getudall(bool check=true);
251
252 void resetUpToDate() override { updq = true; updu = true; updqd = true; updud = true; }
253
254 virtual void updateGeneralizedPositions();
255 virtual void updateGeneralizedVelocities();
256 virtual void updateGeneralizedAccelerations();
257 virtual void updateDerivativeOfGeneralizedPositions();
258
259 const fmatvec::VecV& evalGeneralizedPosition() { if(updq) updateGeneralizedPositions(); return qRel; }
260 const fmatvec::VecV& evalGeneralizedVelocity() { if(updu) updateGeneralizedVelocities(); return uRel; }
261 const fmatvec::VecV& evalDerivativeOfGeneralizedPosition() { if(updqd) updateDerivativeOfGeneralizedPositions(); return qdRel; }
262 const fmatvec::VecV& evalGeneralizedAcceleration() { if(updud) updateGeneralizedAccelerations(); return udRel; }
263 fmatvec::VecV& getGeneralizedPosition(bool check=true) { assert((not check) or (not updq)); return qRel; }
264 fmatvec::VecV& getGeneralizedVelocity(bool check=true) { assert((not check) or (not updu)); return uRel; }
265 fmatvec::VecV& getDerivativeOfGeneralizedPosition(bool check=true) { assert((not check) or (not updqd)); return qdRel; }
266 fmatvec::VecV& getGeneralizedAcceleration(bool check=true) { assert((not check) or (not updud)); return udRel; }
267
268 void setq(const fmatvec::Vec &q_) { q = q_; }
269 void setu(const fmatvec::Vec &u_) { u = u_; }
270
271 bool hasNonCostantMassMatrix() { return nonConstantMassMatrix; }
272 /*******************************************************/
273
274 void initializeUsingXML(xercesc::DOMElement *element) override;
275
276 void createPlotGroup() override;
277
278 protected:
279 int nq, nu;
280
284 int qSize;
285
289 int uSize[2];
290
294 int hSize[2];
295
299 int qInd, uInd[2], hInd[2];
300
304 fmatvec::Vec q, u, uall;
305
309 fmatvec::Vec q0, u0;
310
314 fmatvec::Vec qd, ud, dq, du, udall;
315
319 fmatvec::Vec h[2], r[2], rdt;
320
321 fmatvec::Mat W[2], V[2];
322
326 fmatvec::Mat dhdq;
327 fmatvec::SqrMat dhdu;
328 fmatvec::Vec dhdt;
329
333 fmatvec::Mat T;
334
338 fmatvec::SymMat M;
339
343 fmatvec::SymMat LLM;
344
345 fmatvec::VecV qRel, uRel, qdRel, udRel;
346
347 bool updSize, updq, updu, updqd, updud;
348
349 bool nonConstantMassMatrix{true};
350 };
351
352 }
353
354 #endif /* _OBJECT_H_ */
MBSim::Object::qInd
int qInd
indices of positions, velocities, right hand side
Definition: object.h:299
MBSim::Object::updateuallRef
virtual void updateuallRef(fmatvec::Vec &uallRef)
references to velocities of dynamic system parent
Definition: object.cc:122
MBSim::Object::updatedhduRef
virtual void updatedhduRef(fmatvec::SqrMat &dhduRef, int i=0)
references to object Jacobian for implicit integration of dynamic system parent regarding velocities
Definition: object.cc:146
MBSim::Object::updateduRef
virtual void updateduRef(fmatvec::Vec &duRef)
references to differentiated velocities of dynamic system parent
Definition: object.cc:130
MBSim::Object::updateudallRef
virtual void updateudallRef(fmatvec::Vec &udallRef)
references to differentiated velocities of dynamic system parent
Definition: object.cc:134
MBSim::Object::Object
Object(const std::string &name)
constructor
Definition: object.cc:43
MBSim::Object::updateLLM
virtual void updateLLM()
perform Cholesky decomposition of mass martix
Definition: object.h:210
MBSim::Object::T
fmatvec::Mat T
linear relation matrix of differentiated position and velocity parameters
Definition: object.h:333
MBSim::Object::updateqRef
virtual void updateqRef(fmatvec::Vec &qRef)
references to positions of dynamic system parent
Definition: object.cc:106
MBSim::Object::qSize
int qSize
size of object positions
Definition: object.h:284
MBSim::Object::plot
void plot() override
plots time dependent data
Definition: object.cc:96
MBSim::Object::initz
virtual void initz()
Definition: object.cc:192
MBSim::Object::q
fmatvec::Vec q
positions, velocities
Definition: object.h:304
MBSim::Element
basic class of MBSim mainly for plotting
Definition: element.h:56
MBSim::Object::writez
virtual void writez(H5::GroupBase *group)
writes its z-Vector to a subgroup of the given group
Definition: object.cc:209
MBSim::Object::updatedhdqRef
virtual void updatedhdqRef(fmatvec::Mat &dhdqRef, int i=0)
references to object Jacobian for implicit integration of dynamic system parent regarding positions
Definition: object.cc:142
MBSim::Object::updaterdtRef
virtual void updaterdtRef(fmatvec::Vec &ref)
references to nonsmooth force vector of dynamic system parent
Definition: object.cc:158
H5::GroupBase
MBSim::Object::hSize
int hSize[2]
size of object h-vector (columns of J)
Definition: object.h:294
MBSim::Object::LLM
fmatvec::SymMat LLM
LU-decomposition of mass matrix.
Definition: object.h:343
MBSim::Object::init
void init(InitStage stage, const InitConfigSet &config) override
initialize object at start of simulation with respect to contours and frames
Definition: object.cc:174
MBSim::Object::updateTRef
virtual void updateTRef(fmatvec::Mat &ref)
references to linear transformation matrix between differentiated positions and velocities of dynamic...
Definition: object.cc:162
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Object::createPlotGroup
void createPlotGroup() override
creates the plotGroup for H5-output
Definition: object.cc:337
MBSim::Object::updateqdRef
virtual void updateqdRef(fmatvec::Vec &qdRef)
references to differentiated positions of dynamic system parent
Definition: object.cc:110
MBSim::Object::dhdq
fmatvec::Mat dhdq
Jacobians of h.
Definition: object.h:326
MBSim::Object::updatedhdtRef
virtual void updatedhdtRef(fmatvec::Vec &dhdtRef, int i=0)
references to object Jacobian for implicit integration of dynamic system parent regarding time
Definition: object.cc:150
MBSim::Object::updateMRef
virtual void updateMRef(fmatvec::SymMat &ref)
references to mass matrix of dynamic system parent
Definition: object.cc:166
MBSim::Object::uSize
int uSize[2]
size of object velocities
Definition: object.h:289
MBSim::Object::updaterRef
virtual void updaterRef(fmatvec::Vec &ref, int i=0)
references to nonsmooth force vector of dynamic system parent
Definition: object.cc:154
MBSim::Object::readz0
virtual void readz0(H5::GroupBase *group)
reads the z-Vector of a subgroup of the given group
Definition: object.cc:215
MBSim::Object::updatedqRef
virtual void updatedqRef(fmatvec::Vec &dqRef)
references to differentiated positions of dynamic system parent
Definition: object.cc:114
MBSim::Object::h
fmatvec::Vec h[2]
complete and object smooth and nonsmooth right hand side
Definition: object.h:319
MBSim::Element::plotGroup
H5::GroupBase * plotGroup
associated plot group
Definition: element.h:297
MBSim::Object::updateudRef
virtual void updateudRef(fmatvec::Vec &udRef)
references to differentiated velocities of dynamic system parent
Definition: object.cc:126
MBSim::Object::updateLLMRef
virtual void updateLLMRef(fmatvec::SymMat &ref)
references to Cholesky decomposition of dynamic system parent
Definition: object.cc:170
MBSim::Object::updatehRef
virtual void updatehRef(fmatvec::Vec &hRef, int i=0)
references to smooth force vector of dynamic system parent
Definition: object.cc:138
MBSim::Object::M
fmatvec::SymMat M
mass matrix
Definition: object.h:338
MBSim::Object::qd
fmatvec::Vec qd
differentiated positions, velocities
Definition: object.h:314
MBSim::Object::updateuRef
virtual void updateuRef(fmatvec::Vec &uRef)
references to velocities of dynamic system parent
Definition: object.cc:118
MBSim::Object
class for all objects having own dynamics and mass
Definition: object.h:42
MBSim::Object::q0
fmatvec::Vec q0
initial position, velocity
Definition: object.h:309
MBSim::Object::setUpInverseKinetics
virtual void setUpInverseKinetics()
TODO.
Definition: object.h:215
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30