mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

1s_33_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_33_RCM_H_
21 #define _FLEXIBLE_BODY_1S_33_RCM_H_
22
23 #include "mbsimFlexibleBody/flexible_body/1s.h"
24 #include "mbsimFlexibleBody/pointer.h"
25
26 namespace MBSimFlexibleBody {
27
28 class NodeFrame;
29
42 class FlexibleBody1s33RCM : public FlexibleBody1s {
43 public:
49 FlexibleBody1s33RCM(const std::string &name="",bool openStructure=false);
50
51 /* INHERITED INTERFACE OF FLEXIBLE BODY */
52 void BuildElements() override;
53
54 void GlobalVectorContribution(int n, const fmatvec::Vec& locVec, fmatvec::Vec& gloVec) override;
55 void GlobalMatrixContribution(int n, const fmatvec::Mat& locMat, fmatvec::Mat& gloMat) override;
56 void GlobalMatrixContribution(int n, const fmatvec::SymMat& locMat, fmatvec::SymMat& gloMat) override;
57
58 void exportPositionVelocity(const std::string & filenamePos, const std::string & filenameVel = std::string( ), const int & deg = 3, const bool & writePsFile = false) override;
59 void importPositionVelocity(const std::string & filenamePos, const std::string & filenameVel = std::string( )) override;
60
61 void updatePositions(Frame1s* frame) override;
62 void updateVelocities(Frame1s* frame) override;
63 void updateAccelerations(Frame1s* frame) override;
64 void updateJacobians(Frame1s* frame, int j=0) override;
65 void updateGyroscopicAccelerations(Frame1s* frame) override;
66
67 virtual void updatePositions(NodeFrame* frame);
68 virtual void updateVelocities(NodeFrame* frame);
69 virtual void updateAccelerations(NodeFrame* frame);
70 virtual void updateJacobians(NodeFrame* frame, int j=0);
71 virtual void updateGyroscopicAccelerations(NodeFrame* frame);
72
73 fmatvec::Vec3 getAngles(double s) override;
74 /***************************************************/
75
76 /* INHERITED INTERFACE OF OBJECT */
77 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
78 /***************************************************/
79
80 /* INHERITED INTERFACE OF ELEMENT */
81 void initializeUsingXML(xercesc::DOMElement * element) override;
82 /***************************************************/
83
84 /* GETTER / SETTER */
85 void setNumberElements(int n);
86 int getNumberElements(){ return Elements; }
87 void setEGModuls(double E_, double G_) { E = E_; G = G_; }
88 void setDensity(double rho_) { rho = rho_; }
89 void setCrossSectionalArea(double A_) { A = A_; }
90 void setMomentsInertia(double I1_, double I2_, double I0_) { I1 = I1_; I2 = I2_; I0 = I0_; }
91 void setMaterialDamping(double epstD_,double k0D_);
92
93 void setGauss(int nGauss_) { nGauss = nGauss_; }
94 void setCurlRadius(double R1_, double R2_);
95 void setLehrDamping(double epstL_, double k0L_);
96 /***************************************************/
97
102 fmatvec::Vector<fmatvec::Fixed<6>, double> getPositions(double x);
103
108 fmatvec::Vector<fmatvec::Fixed<6>, double> getVelocities(double x);
109
114 double computePhysicalStrain(const double sGlobal);
115
119 void initInfo();
120
121 private:
125 RevCardanPtr angle;
126
130 int Elements;
131
135 double l0;
136
140 double E, G;
141
145 double A;
146
150 double I1, I2, I0;
151
155 double rho;
156
160 double R1, R2;
161
165 double epstD, k0D, epstL, k0L;
166
170 bool initialised;
171
175 int nGauss;
176
183 void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
184 };
185
186 }
187
188 #endif /* _FLEXIBLE_BODY_1S_33_RCM_H_ */
MBSimFlexibleBody::FlexibleBody1s33RCM::GlobalVectorContribution
void GlobalVectorContribution(int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
insert 'local' information in global vectors
Definition: 1s_33_rcm.cc:98
MBSimFlexibleBody::FlexibleBody1s33RCM::initialised
bool initialised
initialised FLAG
Definition: 1s_33_rcm.h:170
MBSimFlexibleBody::FlexibleBody1s33RCM::A
double A
area of cross-section
Definition: 1s_33_rcm.h:145
MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElement
void BuildElement(const double &sGlobal, double &sLocal, int &currentElement)
detect current finite element
Definition: 1s_33_rcm.cc:324
MBSimFlexibleBody::FlexibleBody1s33RCM::computePhysicalStrain
double computePhysicalStrain(const double sGlobal)
compute the physical strain of the element
Definition: 1s_33_rcm.cc:306
MBSimFlexibleBody::FlexibleBody1s
tbd
Definition: 1s.h:33
MBSimFlexibleBody::Frame1s
Definition: frame_1s.h:27
MBSimFlexibleBody::FlexibleBody1s33RCM::nGauss
int nGauss
number of Gauss points for rotational kinetic energy
Definition: 1s_33_rcm.h:175
MBSimFlexibleBody::FlexibleBody1s33RCM
spatial beam using Redundant Coordinate Method (RCM)
Definition: 1s_33_rcm.h:42
MBSimFlexibleBody::FlexibleBody1s33RCM::Elements
int Elements
number of elements
Definition: 1s_33_rcm.h:130
MBSimFlexibleBody::FlexibleBody1s33RCM::getVelocities
fmatvec::Vector< fmatvec::Fixed< 6 >, double > getVelocities(double x)
compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates
Definition: 1s_33_rcm.cc:299
MBSimFlexibleBody::FlexibleBody1s::openStructure
bool openStructure
flag for open (cantilever beam) or closed (rings) structures
Definition: 1s.h:73
MBSimFlexibleBody::FlexibleBody1s33RCM::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_33_rcm.cc:391
MBSimFlexibleBody::FlexibleBody1s33RCM::angle
RevCardanPtr angle
angle parametrisation
Definition: 1s_33_rcm.h:125
MBSim::Element::InitStage
InitStage
MBSimFlexibleBody::FlexibleBody1s33RCM::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_33_rcm.cc:455
MBSimFlexibleBody::FlexibleBody1s33RCM::l0
double l0
length of entire beam and finite elements
Definition: 1s_33_rcm.h:135
MBSimFlexibleBody::FlexibleBody1s33RCM::getPositions
fmatvec::Vector< fmatvec::Fixed< 6 >, double > getPositions(double x)
compute positions and angle at Lagrangian coordinate in local FE coordinates
Definition: 1s_33_rcm.cc:292
MBSimFlexibleBody::FlexibleBody1s33RCM::FlexibleBody1s33RCM
FlexibleBody1s33RCM(const std::string &name="", bool openStructure=false)
constructor
Definition: 1s_33_rcm.cc:49
MBSimFlexibleBody::FlexibleBody1s33RCM::R1
double R1
radius of undeformed shape
Definition: 1s_33_rcm.h:160
MBSim::Element::name
std::string name
MBSim::Body::frame
std::vector< Frame * > frame
MBSimFlexibleBody::FlexibleBody1s33RCM::rho
double rho
density
Definition: 1s_33_rcm.h:155
MBSimFlexibleBody::FlexibleBody1s33RCM::epstD
double epstD
damping
Definition: 1s_33_rcm.h:165
MBSimFlexibleBody::NodeFrame
cartesian frame on nodes of flexible bodies
Definition: node_frame.h:31
MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElements
void BuildElements() override
references finite element coordinates to assembled coordinates
Definition: 1s_33_rcm.cc:52
MBSimFlexibleBody::FlexibleBody1s33RCM::E
double E
elastic modules
Definition: 1s_33_rcm.h:140
MBSimFlexibleBody::FlexibleBody1s33RCM::GlobalMatrixContribution
void GlobalMatrixContribution(int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) override
insert 'local' information in global matrices
MBSimFlexibleBody::FlexibleBody1s33RCM::I1
double I1
area moment of inertia
Definition: 1s_33_rcm.h:150
MBSimFlexibleBody::FlexibleBody1s33RCM::initInfo
void initInfo()
Definition: 1s_33_rcm.cc:313