mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

1s_21_cosserat_translation.h
1 /* Copyright (C) 2004-2012 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 _FINITE_ELEMENT_1S_21_COSSERAT_TRANSLATION_H_
21 #define _FINITE_ELEMENT_1S_21_COSSERAT_TRANSLATION_H_
22
23 #include "mbsimFlexibleBody/discretization_interface.h"
24 #include "mbsim/mbsim_event.h"
25 #include "mbsimFlexibleBody/pointer.h"
26 #include "fmatvec/fmatvec.h"
27
28 namespace MBSimFlexibleBody {
29
48 class FiniteElement1s21CosseratTranslation : public DiscretizationInterface {
49 public:
50
61 FiniteElement1s21CosseratTranslation(double l0_,double rho_,double A_,double E_,double G_,double I1_,const fmatvec::Vec& g_);
62
66 ~FiniteElement1s21CosseratTranslation() override;
67
68 /* INHERITED INTERFACE OF DISCRETIZATIONINTERFACE */
69 const fmatvec::SymMat& getM() const override;
70 const fmatvec::Vec& geth() const override;
71 const fmatvec::SqrMat& getdhdq() const override;
72 const fmatvec::SqrMat& getdhdu() const override;
73 int getqSize() const override;
74 int getuSize() const override;
75
76 void computeM(const fmatvec::Vec& qG) override;
77 void computeh(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
78 void computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
79 double computeKineticEnergy(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
80 double computeGravitationalEnergy(const fmatvec::Vec& qG) override;
81 double computeElasticEnergy(const fmatvec::Vec& qG) override;
82
83 virtual fmatvec::Vec3 getPosition(const fmatvec::Vec& qElement, double s);
84 virtual fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& qElement, double s);
85 virtual fmatvec::Vec3 getVelocity (const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
86 virtual fmatvec::Vec3 getAngularVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
87 virtual fmatvec::Mat getJacobianOfMotion(const fmatvec::Vec& qElement, double s) { return computeJXqG(qElement,s); }
88
89 /* GETTER / SETTER */
90 void setMaterialDamping(double cEps0D_,double cEps1D_);
91 void setShearCorrectionFactors(double sigma1_);
92 double getl0() const;
93
100 const fmatvec::Vec& computeStateTranslation(const fmatvec::Vec& qG, const fmatvec::Vec& qGt, double s);
101
107 fmatvec::Mat computeJXqG(const fmatvec::Vec& qG,double x);
108
112 void initM();
113
114 private:
118 double l0;
119
123 double rho;
124
128 double A;
129
133 double E;
134
138 double G;
139
143 double I1;
144
148 fmatvec::Vec g;
149
153 double cEps0D, cEps1D;
154
158 double sigma1;
159
163 fmatvec::SymMat M;
164 fmatvec::Vec h;
165
169 fmatvec::SqrMat dhdq, dhdu;
170
174 fmatvec::Vec X;
175
179 CardanPtr ag;
180
181 FiniteElement1s21CosseratTranslation(); // standard constructor
182 FiniteElement1s21CosseratTranslation(const FiniteElement1s21CosseratTranslation&); // copy constructor
183 FiniteElement1s21CosseratTranslation& operator=(const FiniteElement1s21CosseratTranslation&); // assignment operator
184 };
185
186 inline const fmatvec::SymMat& FiniteElement1s21CosseratTranslation::getM() const { return M; }
187 inline const fmatvec::Vec& FiniteElement1s21CosseratTranslation::geth() const { return h; }
188 inline const fmatvec::SqrMat& FiniteElement1s21CosseratTranslation::getdhdq() const { return dhdq; }
189 inline const fmatvec::SqrMat& FiniteElement1s21CosseratTranslation::getdhdu() const { return dhdu; }
190 inline int FiniteElement1s21CosseratTranslation::getqSize() const { return 5; }
191 inline int FiniteElement1s21CosseratTranslation::getuSize() const { return 5; }
192 inline void FiniteElement1s21CosseratTranslation::computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) { throw std::runtime_error("(FiniteElement1s21CosseratTranslation::computedhdz): Not implemented"); }
193 inline void FiniteElement1s21CosseratTranslation::setShearCorrectionFactors(double sigma1_) { sigma1 = sigma1_; }
194 inline double FiniteElement1s21CosseratTranslation::getl0() const { return l0; }
195
196 }
197
198 #endif /* _FINITE_ELEMENT_1S_21_COSSERAT_TRANSLATION_H_ */
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::ag
CardanPtr ag
Cardan-object.
Definition: 1s_21_cosserat_translation.h:179
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeElasticEnergy
double computeElasticEnergy(const fmatvec::Vec &qG) override
compute elastic energy
Definition: 1s_21_cosserat_translation.cc:143
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::getdhdu
const fmatvec::SqrMat & getdhdu() const override
Definition: 1s_21_cosserat_translation.h:189
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::getM
const fmatvec::SymMat & getM() const override
Definition: 1s_21_cosserat_translation.h:186
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::rho
double rho
density
Definition: 1s_21_cosserat_translation.h:123
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::~FiniteElement1s21CosseratTranslation
~FiniteElement1s21CosseratTranslation() override
destructor
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::cEps0D
double cEps0D
strain damping
Definition: 1s_21_cosserat_translation.h:153
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::A
double A
cross sectional area
Definition: 1s_21_cosserat_translation.h:128
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::l0
double l0
length of finite element
Definition: 1s_21_cosserat_translation.h:118
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeJXqG
fmatvec::Mat computeJXqG(const fmatvec::Vec &qG, double x)
compute JACOBIAN of contact description in global coordinates
Definition: 1s_21_cosserat_translation.cc:180
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::g
fmatvec::Vec g
gravitation
Definition: 1s_21_cosserat_translation.h:148
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation
finite translation element for planar beam using Cosserat model
Definition: 1s_21_cosserat_translation.h:48
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::I1
double I1
geometrical moment of inertia
Definition: 1s_21_cosserat_translation.h:143
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computedhdz
void computedhdz(const fmatvec::Vec &qG, const fmatvec::Vec &qGt) override
compute Jacobian for implicit integration
Definition: 1s_21_cosserat_translation.h:192
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeKineticEnergy
double computeKineticEnergy(const fmatvec::Vec &qG, const fmatvec::Vec &qGt) override
compute kinetic energy
Definition: 1s_21_cosserat_translation.cc:127
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::sigma1
double sigma1
shear correction factors
Definition: 1s_21_cosserat_translation.h:158
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::initM
void initM()
initialize translational part of mass matrix
Definition: 1s_21_cosserat_translation.cc:184
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::G
double G
shear modulus
Definition: 1s_21_cosserat_translation.h:138
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::X
fmatvec::Vec X
state at Lagrangian coordinate
Definition: 1s_21_cosserat_translation.h:174
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::geth
const fmatvec::Vec & geth() const override
Definition: 1s_21_cosserat_translation.h:187
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::getdhdq
const fmatvec::SqrMat & getdhdq() const override
Definition: 1s_21_cosserat_translation.h:188
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::getqSize
int getqSize() const override
Definition: 1s_21_cosserat_translation.h:190
MBSimFlexibleBody::DiscretizationInterface
discretization interface for flexible systems
Definition: discretization_interface.h:36
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::getuSize
int getuSize() const override
Definition: 1s_21_cosserat_translation.h:191
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::E
double E
Young's modulus.
Definition: 1s_21_cosserat_translation.h:133
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::dhdq
fmatvec::SqrMat dhdq
matrices for implicit integration
Definition: 1s_21_cosserat_translation.h:169
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::M
fmatvec::SymMat M
global system description
Definition: 1s_21_cosserat_translation.h:163
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeStateTranslation
const fmatvec::Vec & computeStateTranslation(const fmatvec::Vec &qG, const fmatvec::Vec &qGt, double s)
compute state of finite element
Definition: 1s_21_cosserat_translation.cc:154
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeGravitationalEnergy
double computeGravitationalEnergy(const fmatvec::Vec &qG) override
compute gravitational energy
Definition: 1s_21_cosserat_translation.cc:139
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeM
void computeM(const fmatvec::Vec &qG) override
compute mass matrix
Definition: 1s_21_cosserat_translation.cc:40
MBSimFlexibleBody::FiniteElement1s21CosseratTranslation::computeh
void computeh(const fmatvec::Vec &qG, const fmatvec::Vec &qGt) override
compute smooth right hand side
Definition: 1s_21_cosserat_translation.cc:43