mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

Public Member Functions | Private Member Functions | Private Attributes | List of all members
MBSimFlexibleBody::FlexibleBody1s33RCM Class Reference

spatial beam using Redundant Coordinate Method (RCM) More...

`#include <1s_33_rcm.h>`

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s33RCM:
[legend]

## Public Member Functions

| FlexibleBody1s33RCM (const std::string &name="", bool openStructure=false)
| constructor More...
void | BuildElements () override
| references finite element coordinates to assembled coordinates
void | GlobalVectorContribution (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
| insert 'local' information in global vectors More...
void | GlobalMatrixContribution (int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) override
| insert 'local' information in global matrices More...
void | GlobalMatrixContribution (int n, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat) override
| insert 'local' information in global matrices More...
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-package and exports the nurbs curve in the specified file More...
void | importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string()) override
| 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 | updatePositions (Frame1s *frame) override
void | updateVelocities (Frame1s *frame) override
void | updateAccelerations (Frame1s *frame) override
void | updateJacobians (Frame1s *frame, int j=0) override
void | updateGyroscopicAccelerations (Frame1s *frame) override
virtual void | updatePositions (NodeFrame *frame)
virtual void | updateVelocities (NodeFrame *frame)
virtual void | updateAccelerations (NodeFrame *frame)
virtual void | updateJacobians (NodeFrame *frame, int j=0)
virtual void | updateGyroscopicAccelerations (NodeFrame *frame)
fmatvec::Vec3 | getAngles (double s) override
void | init (InitStage stage, const MBSim::InitConfigSet &config) override
void | initializeUsingXML (xercesc::DOMElement *element) override
void | setNumberElements (int n)
int | getNumberElements ()
void | setEGModuls (double E_, double G_)
void | setDensity (double rho_)
void | setCrossSectionalArea (double A_)
void | setMomentsInertia (double I1_, double I2_, double I0_)
void | setMaterialDamping (double epstD_, double k0D_)
void | setGauss (int nGauss_)
void | setCurlRadius (double R1_, double R2_)
void | setLehrDamping (double epstL_, double k0L_)
fmatvec::Vector< fmatvec::Fixed< 6 >, double > | getPositions (double x)
| compute positions and angle at Lagrangian coordinate in local FE coordinates More...
fmatvec::Vector< fmatvec::Fixed< 6 >, double > | getVelocities (double x)
| compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates More...
double | computePhysicalStrain (const double sGlobal)
| compute the physical strain of the element More...
void | initInfo ()
Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1s
| FlexibleBody1s (const std::string &name, bool openStructure)
| constructor: More...
void | init (InitStage stage, const MBSim::InitConfigSet &config) override
void | plot () override
void | setLength (double L_)
double | getLength () const
bool | getOpenStructure () const
void | addFrame (Frame1s *frame)
virtual fmatvec::Vec3 | getPosition (double s)
virtual fmatvec::SqrMat3 | getOrientation (double s)
void | setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &body)
Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
| FlexibleBodyContinuum (const std::string &name)
| constructor More...
void | setContourNodes (const std::vector< double > nodes)
void | setNodeOffset (const double nodeOffset_)
double | 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
void | resetUpToDate () override
void | addFrame (NodeBasedFrame *frame)
Public Member Functions inherited from MBSimFlexibleBody::NodeBasedBody
| NodeBasedBody (const std::string &name)
void | resetUpToDate () override
virtual void | updatePositions (int i)
virtual void | updateVelocities (int i)
virtual void | updateAccelerations (int i)
virtual void | updateJacobians (int i, int j=0)
virtual void | updateGyroscopicAccelerations (int i)
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 | 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)
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 ()

## Private Member Functions

void | BuildElement (const double &sGlobal, double &sLocal, int &currentElement)
| detect current finite element More...

## Private Attributes

RevCardanPtr | angle
| angle parametrisation
int | Elements
| number of elements
double | l0
| length of entire beam and finite elements
double | E
| elastic modules
double | G
double | A
| area of cross-section
double | I1
| area moment of inertia
double | I2
double | I0
double | rho
| density
double | R1
| radius of undeformed shape
double | R2
double | epstD
| damping
double | k0D
double | epstL
double | k0L
bool | initialised
| initialised FLAG
int | nGauss
| number of Gauss points for rotational kinetic energy

## Additional Inherited Members

Public Types inherited from MBSim::Element
enum | InitStage
Public Attributes inherited from MBSim::Element
| resolveStringRef
| preInit
| plotting
| unknownStage
Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody1s
double | L
| length of beam
bool | openStructure
| flag for open (cantilever beam) or closed (rings) structures
Frame1s | P
Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
std::vector< double > | userContourNodes
| grid for contact point detection
double | 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

## Detailed Description

spatial beam using Redundant Coordinate Method (RCM)

Author
  Thorsten Schindler

Date
  2009-04-17 initial commit kernel_dev (Thorsten Schindler)
  2009-05-08 visualisation (Thorsten Schindler)
  2009-07-16 splitted link / object right hand side (Thorsten Schindler)
  2009-07-23 implicit integration (Thorsten Schindler)
  2012-01-10 import / export position and velocity (Cebulla / Grundl)
  2012-05-14 added Contour1sFlexible for perlchain example (Thomas Cebulla)

Todo:

  gyroscopic accelerations TODO

  inverse kinetics TODO

## Constructor & Destructor Documentation

## ◆ FlexibleBody1s33RCM()

MBSimFlexibleBody::FlexibleBody1s33RCM::FlexibleBody1s33RCM | ( | const std::string & | name = `""`,
|  | bool | openStructure = `false`
| ) |  |

constructor

Parameters

  name | of body
  bool | to specify open (cantilever) or closed (ring) structure

## Member Function Documentation

## ◆ BuildElement()

void MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElement | ( | const double & | sGlobal,
|  | double & | sLocal,
|  | int & | currentElement
| ) |  |

private

detect current finite element

Parameters

  global | parametrisation
  local | parametrisation
  finite | element number

## ◆ computePhysicalStrain()

double MBSimFlexibleBody::FlexibleBody1s33RCM::computePhysicalStrain | ( | const double | sGlobal | ) |

compute the physical strain of the element

Parameters

  Lagrangian | coordinate

## ◆ exportPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s33RCM::exportPositionVelocity | ( | const std::string & | filenamePos,
|  | const std::string & | filenameVel = `std::string( )`,
|  | const int & | deg = `3`,
|  | const bool & | writePsFile = `false`
| ) |  |

override virtual

interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file

Parameters

  filenamePos | Name of the exported position curve file
  filenameVel | Name of the exported velocity curve file
  deg | Degree of Nurbs interpolation
  writePsFile | A Postscript-file of the curve profile is created

Remark: the knot vector is parametrized between [0,L]

Reimplemented from MBSimFlexibleBody::FlexibleBody.

## ◆ getPositions()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getPositions | ( | double | x | ) |

compute positions and angle at Lagrangian coordinate in local FE coordinates

Parameters

  Lagrangian | coordinate

## ◆ getVelocities()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getVelocities | ( | double | x | ) |

compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates

Parameters

  Lagrangian | coordinate

## ◆ GlobalMatrixContribution() [1/2]

void MBSimFlexibleBody::FlexibleBody1s33RCM::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::FlexibleBody1s33RCM::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::FlexibleBody1s33RCM::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.

## ◆ importPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s33RCM::importPositionVelocity | ( | const std::string & | filenamePos,
|  | const std::string & | filenameVel = `std::string( )`
| ) |  |

override virtual

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

Parameters

  filenamePos | Name of the imported position curve file
  filenameVel | Name of the imported velocity curve file

Reimplemented from MBSimFlexibleBody::FlexibleBody.

## ◆ initInfo()

void MBSimFlexibleBody::FlexibleBody1s33RCM::initInfo | ( |  | ) |

initialise beam only for giving information with respect to state, number elements, length, (not for simulation)

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

- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1s_33_rcm.h
- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1s_33_rcm.cc