mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

Public Member Functions | Protected Attributes | List of all members
MBSimFlexibleBody::NurbsCurve1s Class Reference

contour 1s flexible with NURBS parametrization More...

`#include <nurbs_curve_1s.h>`

Inheritance diagram for MBSimFlexibleBody::NurbsCurve1s:
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## Public Member Functions

| NurbsCurve1s (const std::string &name)
| constructor More...
| ~NurbsCurve1s () override=default
| destructor
virtual void | computeRootFunctionPosition (MBSim::ContourFrame *frame)
virtual void | computeRootFunctionFirstTangent (MBSim::ContourFrame *frame)
virtual void | computeRootFunctionNormal (MBSim::ContourFrame *frame)
virtual void | computeRootFunctionSecondTangent (MBSim::ContourFrame *frame)
MBSim::ContactKinematics * | findContactPairingWith (const std::type_info &type0, const std::type_info &type1) override
void | setNormalRotationGrid (const fmatvec::Vec &normal_)
void | initContourFromBody (InitStage stage)
| initialize NURBS curve More...
void | computeCurveTranslations (bool update=false)
| interpolates the translations with node-data from body
void | computeCurveVelocities (bool update=false)
| interpolates the velocities with the node-data from the body
void | computeCurveAngularVelocities (bool update=false)
| interpolates the angular velocities with the node-data from the body
void | computeCurveJacobians (bool trans=true, bool rot=true, bool update=false)
| interpolates the Jacobians of translation with the node-data from the body More...
Public Member Functions inherited from MBSimFlexibleBody::Contour1s
| Contour1s (const std::string &name)
| constructor More...
void | init (InitStage stage_, const MBSim::InitConfigSet &config) override
void | plot () override
void | setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &spineExtrusion)
std::shared_ptr< OpenMBV::SpineExtrusion > & | getOpenMBVSpineExtrusion ()
Public Member Functions inherited from MBSim::Contour
| Contour (const std::string &name)
virtual fmatvec::Vec3 | evalPosition (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalWu (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalWv (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalWn (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer1Wn (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer2Wn (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer1Wu (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer2Wu (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer1Wv (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalParDer2Wv (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalWs (const fmatvec::Vec2 &zeta)
virtual fmatvec::Vec3 | evalWt (const fmatvec::Vec2 &zeta)
void | createPlotGroup () override
Public Member Functions inherited from MBSim::Element
| Element (const std::string &name)
virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys)
virtual void | plotAtSpecialEvent ()
const std::string & | getName () const
void | setName (const std::string &str)
DynamicSystemSolver * | getDynamicSystemSolver ()
virtual void | init (InitStage stage, const InitConfigSet &config)
H5::GroupBase * | getPlotGroup ()
bool | getPlotFeature (const PlotFeatureEnum &pf)
virtual void | setPlotFeature (const PlotFeatureEnum &pf, bool value)
void | setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
void | setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
void | setPlotAttribute (const std::string &name, const T &value)
T * | getByPath (const std::string &path, bool initialCaller=true) const
std::string | getPath (const Element *relTo=nullptr, std::string sep="/") const
virtual Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const
std::vector< Element * > | getDependencies () const
int | computeLevel ()

## Protected Attributes

int | Elements
| number of elements
int | qSize
| number of DOFs
bool | openStructure
| open or closed beam structure
double | L
| length of entire curve
int | degU
| interpolation degree
MBSim::NurbsCurve | curveTranslations
| interpolated translations of the contour
MBSim::NurbsCurve | curveVelocities
| interpolated velocities of the contour
MBSim::NurbsCurve | curveAngularVelocities
| interpolated angular velocities of the contour
fmatvec::Vec3 | normalRotationGrid
| closest normal on rotation grid to update direction of normal of nurbs-curve and to avoid jumping
std::vector< MBSim::NurbsCurve > | CurveJacobiansOfTranslation
| interpolated Jacobians of Translation of the contour
std::vector< MBSim::NurbsCurve > | CurveJacobiansOfRotation
| interpolated Jacobians of Rotation on the contour
Protected Attributes inherited from MBSimFlexibleBody::Contour1s
std::shared_ptr< OpenMBV::SpineExtrusion > | openMBVSpineExtrusion
| body for the spine extrusion for visualisation of the 1s-body
Protected Attributes inherited from MBSim::Contour
int | hSize [2]
double | thickness
Protected Attributes inherited from MBSim::Element
std::string | name
std::string | path
MBXMLUtils::DOMEvalException | domEvalError
DynamicSystemSolver * | ds
H5::VectorSerie< double > * | plotVectorSerie
std::vector< double > | plotVector
std::vector< std::string > | plotColumns
H5::GroupBase * | plotGroup
std::vector< Element * > | dependency
PlotFeatureMap | plotFeature

## Additional Inherited Members

Public Types inherited from MBSim::Element
enum | InitStage
Public Attributes inherited from MBSim::Element
| resolveStringRef
| preInit
| plotting
| unknownStage

## Detailed Description

contour 1s flexible with NURBS parametrization

Author
  Thorsten Schindler
  Kilian Grundl

Date
  2011-10-16 initial commit (Thorsten Schindler)
  2012-03-15 updateKinematicsForFrame and contact Jacobians (Cebulla / Schindler)
  2013-02-04 contour now for 2D and 3D Cosserat beam (Zitzewitz / Cebulla / Schindler)
  2013-08-19 using self implemented nurbs-curve

## Constructor & Destructor Documentation

## ◆ NurbsCurve1s()

MBSimFlexibleBody::NurbsCurve1s::NurbsCurve1s | ( | const std::string & | name | ) |

inline

constructor

Parameters

  name | of contour

## Member Function Documentation

## ◆ computeCurveJacobians()

void MBSimFlexibleBody::NurbsCurve1s::computeCurveJacobians | ( | bool | trans = `true`,
|  | bool | rot = `true`,
|  | bool | update = `false`
| ) |  |

interpolates the Jacobians of translation with the node-data from the body

Parameters

  interpolate | translational jacobian
  interpolate | rotational jacobian

## ◆ initContourFromBody()

void MBSimFlexibleBody::NurbsCurve1s::initContourFromBody | ( | InitStage | stage | ) |

initialize NURBS curve

Parameters

  stage | of initialisation

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

- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_curve_1s.h
- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_curve_1s.cc