mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

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

flexible body model based on floating frame reference using the system information external linear FEM code More...

`#include <linear_external_ffr.h>`

Inheritance diagram for MBSimFlexibleBody::FlexibleBodyLinearExternalFFR:
[legend]

## Public Member Functions

| FlexibleBodyLinearExternalFFR (const std::string &name)
| constructor More...
| ~FlexibleBodyLinearExternalFFR () override=default
| destructor
virtual int | getNumberElements () const
virtual double | getLength () const
virtual bool | isOpenStructure () const
void | updateM () override
void | BuildElements () override
| references finite element coordinates to assembled coordinates
void | GlobalVectorContribution (int CurrentElement, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
| insert 'local' information in global vectors More...
void | GlobalMatrixContribution (int CurrentElement, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) override
| insert 'local' information in global matrices More...
void | GlobalMatrixContribution (int CurrentElement, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat) override
| insert 'local' information in global matrices More...
void | updateh (int k=0) override
void | init (InitStage stage, const MBSim::InitConfigSet &config) override
void | calcqSize () override
void | calcuSize (int j) override
void | setNumberOfModes (int nf_)
int | getNumberModes () const
MBSim::Frame * | getFloatingFrameOfReference ()
const fmatvec::Vec3 | getModeShapeVector (int node, int column) const
void | readFEMData (const std::string &inFilePath, const bool millimeterUnits, bool output=false)
| read u0, mij, mode shape matrix and stiffness matrix form the input file
void | enableFramePlot (double size=1e-3, fmatvec::VecInt numbers=fmatvec::VecInt(0))
void | resetUpToDate () override
const fmatvec::SqrMat3 & | evalA ()
const fmatvec::SqrMat3 & | evalG_bar ()
const fmatvec::SqrMat3 & | evalG_bar_Dot ()
const fmatvec::Vec & | evalQv ()
void | updatePositions (MBSim::Frame *frame) override
void | updateVelocities (MBSim::Frame *frame) override
void | updateAccelerations (MBSim::Frame *frame) override
void | updateJacobians (MBSim::Frame *frame, int j=0) override
void | updateGyroscopicAccelerations (MBSim::Frame *frame) override
void | updatePositions (int nodeIndex) override
void | updateVelocities (int nodeIndex) override
void | updateAccelerations (int nodeIndex) override
void | updateJacobians (int nodeIndex, int j=0) override
void | updateGyroscopicAccelerations (int nodeIndex) override
fmatvec::Vec3 | evalLocalPosition (int i)
Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< fmatvec::Vec >
| FlexibleBodyContinuum (const std::string &name)
| constructor More...
void | setContourNodes (const std::vector< fmatvec::Vec > nodes)
void | setNodeOffset (const fmatvec::Vec nodeOffset_)
fmatvec::Vec | getNodeOffset () const
Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody
| FlexibleBody (const std::string &name)
| constructor More...
| ~FlexibleBody () override
| destructor
void | updateqd () override
void | updateh (int k=0) override
void | updateM () override
void | updatedhdz () override
void | initializeUsingXML (xercesc::DOMElement *element) override
void | init (InitStage stage, const MBSim::InitConfigSet &config) override
virtual double | computeKineticEnergy ()
virtual double | computePotentialEnergy ()
void | setFrameOfReference (MBSim::Frame *frame) override
virtual void | setq0 (const fmatvec::Vec &q0_)
virtual void | setu0 (const fmatvec::Vec &u0_)
const fmatvec::Vec & | getqElement (int i)
const fmatvec::Vec & | getuElement (int i)
virtual fmatvec::Vec3 | getAngles (int i)
virtual fmatvec::Vec3 | getDerivativeOfAngles (int i)
void | setMassProportionalDamping (const double d_)
| cartesian kinematic for contour or external frame (normal, tangent, binormal) is set by implementation class More...
void | addFrame (MBSim::ContourFrame *frame)
void | addFrame (MBSim::FixedRelativeFrame *frame)
void | addContour (MBSim::Contour *contour) override
virtual void | exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false)
| interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file More...
virtual void | importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string())
| imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve More...
void | resetUpToDate () override
void | addFrame (NodeBasedFrame *frame)
Public Member Functions inherited from MBSimFlexibleBody::NodeBasedBody
| NodeBasedBody (const std::string &name)
void | resetUpToDate () override
virtual void | updateStresses (int i)
const fmatvec::Vec3 & | evalNodalPosition (int i)
const fmatvec::Vec3 & | evalNodalVelocity (int i)
const fmatvec::Vec3 & | evalNodalAcceleration (int i)
const fmatvec::Mat3xV & | evalNodalJacobianOfTranslation (int i, int j=0)
const fmatvec::Vec3 & | evalNodalGyroscopicAccelerationOfTranslation (int i)
const fmatvec::Vec3 & | evalNodalDisplacement (int i)
const fmatvec::Vector< fmatvec::Fixed< 6 >, double > & | evalNodalStress (int i)
fmatvec::SqrMat3 & | getNodalOrientation (int i, bool check=true)
fmatvec::Vec3 & | getNodalAngularVelocity (int i, bool check=true)
fmatvec::Vec3 & | getNodalAngularAcceleration (int i, bool check=true)
fmatvec::Mat3xV & | getNodalJacobianOfRotation (int i, int j=0, bool check=true)
fmatvec::Vec3 & | getNodalGyroscopicAccelerationOfRotation (int i, bool check=true)
void | addFrame (NodeBasedFrame *frame)
void | init (InitStage stage, const MBSim::InitConfigSet &config) override
int | getNumberOfNodes ()
int | getNodeIndex (int nodeNumber) const
Public Member Functions inherited from MBSim::Body
| Body (const std::string &name)
void | plot () override
void | setDynamicSystemSolver (DynamicSystemSolver *sys) override
void | init (InitStage stage, const InitConfigSet &config) override
void | createPlotGroup () override
virtual Contour * | getContour (const std::string &name, bool check=true) const
virtual Frame * | getFrame (const std::string &name, bool check=true) const
virtual Frame * | getFrameOfReference ()
virtual const Frame * | getFrameOfReference () const
int | frameIndex (const Frame *frame_) const
int | contourIndex (const Contour *contour_) const
Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const override
virtual void | addFrame (Frame *frame)
Public Member Functions inherited from MBSim::Object
| Object (const std::string &name)
void | plot () override
virtual void | updateqRef (fmatvec::Vec &qRef)
virtual void | updateqdRef (fmatvec::Vec &qdRef)
virtual void | updatedqRef (fmatvec::Vec &dqRef)
virtual void | updateuRef (fmatvec::Vec &uRef)
virtual void | updateuallRef (fmatvec::Vec &uallRef)
virtual void | updateudRef (fmatvec::Vec &udRef)
virtual void | updateduRef (fmatvec::Vec &duRef)
virtual void | updateudallRef (fmatvec::Vec &udallRef)
virtual void | updatehRef (fmatvec::Vec &hRef, int i=0)
virtual void | updatedhdqRef (fmatvec::Mat &dhdqRef, int i=0)
virtual void | updatedhduRef (fmatvec::SqrMat &dhduRef, int i=0)
virtual void | updatedhdtRef (fmatvec::Vec &dhdtRef, int i=0)
virtual void | updaterRef (fmatvec::Vec &ref, int i=0)
virtual void | updaterdtRef (fmatvec::Vec &ref)
virtual void | updateTRef (fmatvec::Mat &ref)
virtual void | updateMRef (fmatvec::SymMat &ref)
virtual void | updateLLMRef (fmatvec::SymMat &ref)
void | init (InitStage stage, const InitConfigSet &config) override
virtual void | initz ()
virtual void | writez (H5::GroupBase *group)
virtual void | readz0 (H5::GroupBase *group)
virtual void | updateLLM ()
virtual void | setUpInverseKinetics ()
void | createPlotGroup () override
Public Member Functions inherited from MBSim::Element
| Element (const std::string &name)
virtual void | plotAtSpecialEvent ()
const std::string & | getName () const
void | setName (const std::string &str)
DynamicSystemSolver * | getDynamicSystemSolver ()
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
std::vector< Element * > | getDependencies () const
int | computeLevel ()

## Protected Member Functions

void | initM ()
| initialize the mass matrix
void | initQv ()
| initialize the quadratic velocity vector
void | updateQv ()
| update the quadratic velocity vector
void | computeShapeIntegrals ()
| compute the constant shape integrals of the whole body
void | updateAGbarGbardot ()
| update A, G_bar, and G_bar_Dot

## Protected Attributes

int | nNodes
| total number of nodes
MBSim::Frame * | FFR
| Floating Frame of Reference.
fmatvec::Vec3 | I_1
| matrix for the computation of the mass-matrix (assembled part of the element matrix)
fmatvec::SymMat3 | I_kl
| matrix
fmatvec::Mat | S_bar
| matrix for the computation of the mass-matrix (assembled part of the element matrix)
fmatvec::SqrMat | S_kl_bar [3][3]
| matrix for the computation of the mass-matrix (assembled part of the element matrix)
fmatvec::RowVec | I_kl_bar [3][3]
| matrix for the computation of the mass-matrix (assembled part of the element matrix)
fmatvec::SymMat3 | I_ThetaTheta_bar
| inertia tensor
fmatvec::Mat | I_ThetaF_bar
| I_ThetaF 3*nf.
fmatvec::SymMat | K
| stiffness matrix
fmatvec::SymMat | KFull
| full stiffness matrix
fmatvec::SqrMat3 | G_bar
| transformation matrix of the time derivates of the angles into tho angular velocity in reference coordinates
fmatvec::SqrMat3 | G_bar_Dot
| transformation matrix of the time derivates of the angles into tho angular velocity in reference coordinates
fmatvec::SqrMat3 | A
| transformation matrix of coordinates of the moving frame of reference into the reference frame
double | M_RR {0}
fmatvec::SymMat | M_FF
| matrix for the computation of the mass-matrix (assembled part of the element matrix)
fmatvec::Vec | Qv
| quadratic velocity vector
fmatvec::Vec | mij
| lumped mass for each node
fmatvec::Mat | phiFull
| matrix of all modes
fmatvec::Mat | phi
| matrix of modes used
std::vector< fmatvec::Vec3 > | u0
| initial position of each node
int | nf
| number of mode shapes used to describe the deformation
bool | openStructure
| open or closed beam structure
bool | updAG
bool | updQv
Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< fmatvec::Vec >
std::vector< fmatvec::Vec > | userContourNodes
| grid for contact point detection
fmatvec::Vec | nodeOffset
| offset of the ROTNODE from the TRANSNODE
Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody
std::vector< DiscretizationInterface * > | discretization
| stl-vector of discretizations/finite elements
std::vector< fmatvec::Vec > | qElement
| stl-vector of finite element wise positions
std::vector< fmatvec::Vec > | uElement
| stl-vector of finite element wise velocities
double | d_massproportional
| damping factor for mass proportion, see BodyFlexible::setMassProportionalDamping()
bool | updEle
| vector of contour parameters each describing a frame More...
Protected Attributes inherited from MBSimFlexibleBody::NodeBasedBody
std::vector< fmatvec::Vec3 > | WrOP
std::vector< fmatvec::Vec3 > | WvP
std::vector< fmatvec::Vec3 > | Wom
std::vector< fmatvec::Vec3 > | WaP
std::vector< fmatvec::Vec3 > | Wpsi
std::vector< fmatvec::Vec3 > | WjP
std::vector< fmatvec::Vec3 > | WjR
std::vector< fmatvec::Vec3 > | disp
std::vector< fmatvec::SqrMat3 > | AWK
std::vector< fmatvec::Mat3xV > | WJP [2]
std::vector< fmatvec::Mat3xV > | WJR [2]
std::vector< bool > | updNodalPos
std::vector< bool > | updNodalVel
std::vector< bool > | updNodalAcc
std::vector< bool > | updNodalGA
std::vector< bool > | updNodalStress
std::vector< bool > | updNodalJac [2]
std::vector< fmatvec::Vector< fmatvec::Fixed< 6 >, double > > | sigma
int | nn {0}
std::vector< int > | nodeMap
std::vector< int > | nodeNumbers
Protected Attributes inherited from MBSim::Body
std::vector< Frame * > | frame
Frame * | R
fmatvec::Mat3xV | PJT [2]
Protected Attributes inherited from MBSim::Object
int | qSize
int | uSize [2]
int | hSize [2]
int | qInd
fmatvec::Vec | q
fmatvec::Vec | q0
fmatvec::Vec | qd
fmatvec::Vec | h [2]
fmatvec::Mat | dhdq
fmatvec::Mat | T
fmatvec::SymMat | M
fmatvec::SymMat | LLM
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

flexible body model based on floating frame reference using the system information external linear FEM code

Author
  Kilian Grundl
  Zhan Wang

Date

## Constructor & Destructor Documentation

## ◆ FlexibleBodyLinearExternalFFR()

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

constructor

Parameters

  name | of body

## Member Function Documentation

## ◆ GlobalMatrixContribution() [1/2]

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::GlobalMatrixContribution | ( | int | CurrentElement,
|  | const fmatvec::Mat & | locMat,
|  | fmatvec::Mat & | gloMat
| ) |  |

override virtual

insert 'local' information in global matrices

Parameters

  CurrentElement | number of current finite element
  locMat | local matrix
  gloMat | global matrix

Implements MBSimFlexibleBody::FlexibleBody.

## ◆ GlobalMatrixContribution() [2/2]

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::GlobalMatrixContribution | ( | int | CurrentElement,
|  | const fmatvec::SymMat & | locMat,
|  | fmatvec::SymMat & | gloMat
| ) |  |

override virtual

insert 'local' information in global matrices

Parameters

  CurrentElement | number of current finite element
  locMat | local matrix
  gloMat | global matrix

Implements MBSimFlexibleBody::FlexibleBody.

## ◆ GlobalVectorContribution()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::GlobalVectorContribution | ( | int | CurrentElement,
|  | const fmatvec::Vec & | locVec,
|  | fmatvec::Vec & | gloVec
| ) |  |

override virtual

insert 'local' information in global vectors

Parameters

  number | of finite element
  local | vector
  global | vector

Implements MBSimFlexibleBody::FlexibleBody.

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

- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/linear_external_ffr.h
- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/linear_external_ffr.cc