mbsim 4.0.0 MBSim Kernel

Classes | Typedefs | Functions | Variables
MBSim Namespace Reference

namespace MBSim More...

## Classes

class | AbsoluteValueFunction
class | AbsoluteValueFunction< Ret(Arg)>
struct | Allocate
struct | AllocateBase
class | AutoTimeSteppingSSCIntegrator
| Explicit and Implicit time-stepping integrator of first or higer order with StepSize Control (SSC) StepSizeControl, GapControl, Extrapolation und concept analogue to TimeSteppingSSCIntegrator. More...
class | BevelGear
| bevel gear contour More...
class | BidirectionalFunction
class | BidirectionalFunction< Ret(Arg)>
class | BilateralConstraint
| basic bilateral force law on acceleration level for constraint description More...
class | BilateralImpact
| basic bilateral force law on velocity level for constraint description More...
class | Body
| base class for all mechanical bodies with mass and generalised coordinates More...
class | BoostOdeintDOS
class | BoundedFunction
class | BoundedFunction< Ret(Arg)>
class | Circle
| circular contour with contact possibility from outside and inside and binormal in direction of the third column of the contour reference frame More...
class | CompositeFunction
class | CompositeFunction< Ret(Argo(Argi))>
class | CompoundContour
| contour consisting of primitive contour elements More...
class | ConstantFunction
class | ConstantFunction< Ret(Arg)>
class | ConstantInfluenceFunction
class | Constraint
| Class for constraints between generalized coordinates of objects. More...
class | ConstraintJacobian
class | ConstraintResiduum
class | Contact
| class for contacts More...
class | ContactKinematics
| basic class for contact kinematical calculations More...
class | ContactKinematicsBevelGearBevelGear
| pairing bevel gear to bevel gear More...
class | ContactKinematicsBevelGearPlanarGear
| pairing bevel gear to planar gear More...
class | ContactKinematicsCircleCircle
| pairing outer circle side to outer circle side More...
class | ContactKinematicsCircleExtrusion
| pairing outer circle side to extrusion More...
class | ContactKinematicsCircleFrustum
| contact kinematics for unilateral contact between circle and frustum with at most one contact point More...
class | ContactKinematicsCircleLine
| pairing circle outer surface to line More...
class | ContactKinematicsCircleLineSegment
| pairing circle outer surface to line More...
class | ContactKinematicsCirclePlanarContour
| pairing outer circle side to planar contour More...
class | ContactKinematicsCirclePlanarFrustum
| pairing circle outer side to planar frustum More...
class | ContactKinematicsCirclePlane
| pairing circle outer side to plane More...
class | ContactKinematicsCircleSpatialContour
| pairing circle outer side to spatial contour More...
class | ContactKinematicsCompoundContourCompoundContour
| contact paring between set of contours and set of contours More...
class | ContactKinematicsCompoundContourContour
| pairing of arbitrary contour and set of contours More...
class | ContactKinematicsCylindricalGearCylindricalGear
| pairing cylindrical gear to cylindrical gear More...
class | ContactKinematicsCylindricalGearRack
| pairing cylindrical gear to rack More...
class | ContactKinematicsEdgeEdge
| pairing edge (bounded line) to edge More...
class | ContactKinematicsLinePlanarContour
| pairing line to planar contour More...
class | ContactKinematicsPlanarContourPlanarContour
| pairing spatial contour to spatial contour More...
class | ContactKinematicsPlaneSpatialContour
| pairing plane to spatial contour More...
class | ContactKinematicsPlatePolynomialFrustum
| class for contact kinematics between convex frustum and an plate More...
class | ContactKinematicsPointCircle
| pairing point to circesolid More...
class | ContactKinematicsPointContourInterpolation
| pairing point to contour interpolation; More...
class | ContactKinematicsPointCylinder
| pairing point to cylinder More...
class | ContactKinematicsPointExtrusion
| pairing point to extrusion More...
class | ContactKinematicsPointFrustum
| pairing point to frustum surface More...
class | ContactKinematicsPointLine
| pairing point to line More...
class | ContactKinematicsPointLineSegment
| pairing point to line segment More...
class | ContactKinematicsPointPlanarContour
| pairing point to planar contour More...
class | ContactKinematicsPointPlane
| pairing point to plane More...
class | ContactKinematicsPointPlaneWithFrustum
| pairing point to plane More...
class | ContactKinematicsPointPlate
| pairing point to plate (bounded plane) More...
class | ContactKinematicsPointPolynomialFrustum
| class for contact kinematics between convex frustum and an plate More...
class | ContactKinematicsPointSpatialContour
| pairing point to spatial contour More...
class | ContactKinematicsPointSphere
| pairing point to sphere More...
class | ContactKinematicsSpatialContourSpatialContour
| pairing spatial contour to spatial contour More...
class | ContactKinematicsSphereFrustum
| pairing sphere to frustum More...
class | ContactKinematicsSpherePlane
| pairing sphere to plane More...
class | ContactKinematicsSpherePlate
| pairing sphere to plate More...
class | ContactKinematicsSpherePolynomialFrustum
| class for contact kinematics between convex frustum and a sphere More...
class | ContactKinematicsSphereSpatialContour
| pairing sphere to spatial contour More...
class | ContactKinematicsSphereSphere
| pairing sphere to sphere More...
class | ContactObserver
class | ContactPolyfun
| this class denotes polynomial equation like this:a0+a1*x+a2*x^2+...+an*x^n=rhs More...
class | ContinuedFunction
class | ContinuedFunction< Ret(Arg)>
class | Contour
| basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies More...
class | ContourFrame
class | ContourInterpolation
| Basis-Class for Contour interpolation between Point s, standard contact Point-ContourInterpolation is implemented special interpolations only need to provide (as derived class) the pure virtuals predefined here. More...
class | ContourLink
| contour link More...
class | ContourQuad
| Quad for 3D interpolation. More...
class | CriteriaFunction
| Mother class for different criterias that are fulfilled or not. More...
class | Cuboid
| Cuboid with 8 vertices, 12 edges and 6 faces. More...
class | Cylinder
| cylinder More...
class | CylindricalGear
| cylindrical gear contour More...
class | DampingFunction
class | DASPKIntegrator
| Petzold’s DAE solver DASPK. More...
struct | Deallocate
struct | DeallocateBase
class | DirectionalSpringDamper
| A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames. More...
class | Disk
| disk contour More...
class | DiskContact
| class for disk contacts More...
class | DOMEvalExceptionStack
class | DOMEvalExceptionWrongType
class | DOP853Integrator
| ODE-Integrator DOP853. More...
class | DOPRI5Integrator
| ODE-Integrator DOPRI5. More...
class | DualRigidBodyLink
class | DynamicSystem
| dynamic system as topmost hierarchical level More...
class | DynamicSystemSolver
| solver interface for modelling and simulation of dynamic systems More...
class | Edge
| RigidContour Edge. More...
class | edgePolyFrustum
| Function describing the scalar product between normal of frustum point and difference between frustum point and point on line defined by one parameter t. More...
class | edgePolyFrustumCriteria
class | ElasticJoint
| class for elastic joints More...
class | Element
| basic class of MBSim mainly for plotting More...
struct | EnableFPE
class | EnumFactory
class | Environment
class | ExplicitEulerIntegrator
| Explicit Euler integrator. More...
class | FixedContourFrame
class | FixedFrameLink
| frame link More...
class | FixedRelativeFrame
| cartesian frame on rigid bodies More...
class | FlexibilityInfluenceFunction
class | FloatingContourFrame
| tbd More...
class | FloatingFrameLink
| floating frame link More...
class | FloatingRelativeContourFrame
class | FloatingRelativeFrame
| cartesian frame on rigid bodies More...
class | FourierFunction
class | FourierFunction< Ret(Arg)>
class | Frame
| cartesian frame on bodies used for application of e.g. links and loads More...
class | FrameLink
| frame link More...
class | FrameObserver
class | FrictionForceLaw
| basic friction force law on acceleration level for constraint description More...
class | FrictionImpactLaw
| basic friction force law on velocity level for constraint description More...
class | FromDouble
class | FromDouble< double >
class | FromDouble< fmatvec::Matrix< fmatvec::General, Row, Col, double > >
class | FromDouble< fmatvec::RowVector< Col, double > >
class | FromDouble< fmatvec::Vector< Col, double > >
class | FromStdvec
class | FromStdvec< double >
class | FromVecV
class | FromVecV< double >
class | Frustum
| frustum with axis in direction of second column of contour reference frame More...
class | FuncPairConeSectionCircle
| base root function for planar pairing ConeSection and Circle More...
class | FuncPairEllipseCircle
| root function for planar pairing Ellipse and Circle More...
class | FuncPairHyperbolaCircle
| root function for planar pairing Hyperbola and Circle More...
class | FuncPairPlanarContourCircle
| root function for pairing PlanarContour and Circle More...
class | FuncPairPlanarContourLine
| root function for pairing PlanarContour and Line More...
class | FuncPairPlanarContourPlanarContour
| root function for pairing planar contour and planar contour More...
class | FuncPairPlanarContourPoint
| root function for pairing PlanarContour and Point More...
class | FuncPairPointContourInterpolation
| root function for pairing ContourInterpolation and Point More...
class | FuncPairSpatialContourCircle
| root function for pairing SpatialContour and Circle More...
class | FuncPairSpatialContourCircularShape
class | FuncPairSpatialContourEllipticalShape
class | FuncPairSpatialContourPlane
| root function for pairing SpatialContour and Plane More...
class | FuncPairSpatialContourPoint
| root function for pairing SpatialContour and Point More...
class | FuncPairSpatialContourSpatialContour
| root function for pairing spatial contour and spatial contour More...
class | FuncPairSpatialContourSphere
| root function for pairing SpatialContour and Sphere More...
class | Function
class | FunctionBase
class | GaussLegendreQuadrature
class | GeneralizedAccelerationConstraint
class | GeneralizedAccelerationExcitation
class | GeneralizedClutch
class | GeneralizedConnection
class | GeneralizedConnectionConstraint
class | GeneralizedConstraint
| Class for generalized constraints. More...
class | GeneralizedDualConstraint
| Class for dual generalized constraints. More...
class | GeneralizedElasticConnection
class | GeneralizedElasticStructure
class | GeneralizedForceLaw
| basic force law on acceleration level for constraint description More...
class | GeneralizedFriction
class | GeneralizedGear
class | GeneralizedGearConstraint
class | GeneralizedImpactLaw
| basic force law on velocity level for constraint description More...
class | GeneralizedKinematicExcitation
class | GeneralizedPositionConstraint
class | GeneralizedPositionExcitation
class | GeneralizedSpringDamper
class | GeneralizedVelocityConstraint
class | GeneralizedVelocityExcitation
class | GlobalCriteriaFunction
| This criteria function class applies the infinity norm globally for complete vectors thus it has one tolerance and a list of "results" for each step. More...
class | GlobalResidualCriteriaFunction
| This criteria function class applies the infinity norm globally on the complete vector and compares it with zero (i.e. a residual criteria) More...
class | GlobalShiftCriteriaFunction
| This criteria function class applies the infinity norm globally on the difference between the complete vector of the current step and the complete vector of the step before and compares it with zero (i.e. a shift criteria) More...
class | Graph
| class for tree-structured mechanical systems with recursive and flat memory mechanism More...
class | Group
| group ingredients do not depend on each other More...
class | HETS2Integrator
| time integration scheme on velocity level for nonsmooth dynamical systems using half-explicit trapezoidal rule More...
class | hgFun
| calculate h vector according the new q and system boundary conditions More...
class | IdentityFunction
class | IdentityFunction< Ret(Arg)>
class | ImplicitEulerIntegrator
| Implicit Euler integrator. More...
class | InfluenceFunction
| function describing the influence between the deformations on a body More...
class | InitConfigEnum
struct | InitConfigEnumOp
class | Integrator
| integrator-interface for dynamic systems More...
class | InverseKinematicsConstraint
| Inverse kinematics contraint. More...
class | InverseKinematicsConstraintObserver
class | InverseKineticsJoint
class | IsotropicRotationalSpringDamper
| Isotropic rotational spring damper. This class connects two frames and applies a torque which depends on the relative rotation and velocity between the two frames. More...
class | jacFun
| function for the dh/dq More...
class | JacobianPairConeSectionCircle
| base Jacobian of root function for planar pairing ConeSection and Circle More...
class | JacobianPairEllipseCircle
| Jacobian of root function for planar pairing Ellipse and Circle. More...
class | JacobianPairHyperbolaCircle
| Jacobian of root function for planar pairing Hyperbola and Circle. More...
class | Joint
| class for connections: constraints on frames More...
class | JointConstraint
| Joint contraint. More...
class | KineticExcitation
| kinetic excitations given by time dependent functions More...
class | LCPFixpointReformulationFunction
class | LCPNewtonReformulationFunction
class | LCPReformulationFunction
class | LemkeAlgorithm
class | LimitedFunction
struct | LimitedFunction< Ret(Arg)>
class | Line
| unbounded line with constant normal More...
class | LinearComplementarityJacobianFunction
class | LinearComplementarityProblem
| class to solve a linear complementarity problem More...
class | LinearElasticFunction
| tbd More...
class | LinearFunction
class | LinearFunction< Ret(Arg)>
class | LinearRegularizedBilateralConstraint
| function describing a linear relationship between the input relative distance / velocity and the output for a bilateral constraint More...
class | LinearRegularizedCoulombFriction
| function describing a linear regularized relationship between the input relative velocity and the output for Coulomb friction More...
class | LinearRegularizedStribeckFriction
| function describing a linear regularized relationship between the input relative velocity and the output for Stribeck friction More...
class | LinearRegularizedUnilateralConstraint
| function describing a linear relationship between the input relative distance / velocity and the output for a unilateral constraint More...
class | LinearSpringDamperForce
| function describing a linear relationship between the input deflection / relative velocity and the output for a spring More...
class | LinearTranslation
class | LineSegment
| line segment with two bounds More...
class | Link
| general link to one or more objects More...
class | LocalCriteriaFunction
| This criteria function class applies the infinity norm locally for arbitrary combinations of sub-vectors of the complete vector. It has different tolerances for the different sub-vectors and a list of "result"-lists for each step and each "result" of a sub-vector. More...
class | LocalResidualCriteriaFunction
| This criteria function class applies the infinity norm on single indices sets (each with another tolerance) and compares it with zero (i.e. a residual criteria) More...
class | LocalShiftCriteriaFunction
| This criteria function class applies the infinity norm on single indices sets (each with another tolerance) and compares it with zero (i.e. a residual criteria) More...
class | LSODAIntegrator
| Hindmarsh’s ODE solver LSODA. More...
class | LSODEIntegrator
| Hindmarsh’s ODE solver LSODE. More...
class | LSODIIntegrator
| Hindmarsh’s ODE solver LSODI. More...
class | MagicFormula62
class | MagicFormulaSharp
class | MaxwellContact
| class for maxwell contacts More...
class | MaxwellContactObserver
class | MaxwellUnilateralConstraint
| A force law that computes the normal force of many contact kinematics based on the Maxwell-Force-Law. More...
class | MBSimEnvironment
class | MBSimError
| basic error class for mbsim More...
class | MechanicalConstraint
| Class for mechanical constraints. More...
class | MechanicalConstraintObserver
class | MechanicalLink
| mechanical link More...
class | MechanicalLinkObserver
class | ModellingInterface
| Interface for models of arbitrary domains, e.g. electrical components. More...
class | ModuloFunction
class | ModuloFunction< Ret(Arg)>
class | MultiDimensionalFixpointSolver
| Fixpoint-Solver for multi-dimensional fixpoint-finding. More...
class | MultiDimensionalNewtonMethod
| Newton method for multidimensional root finding. More...
class | MultiDimFixPointIteration
| FixpointIteration for multi-dimensional fixpoint-finding. More...
class | MultiDimNewtonMethod
| Newton method for multi-dimensional root-finding. More...
class | NewtonJacobianFunction
| base class for square Jacobians used for the newton method More...
class | NewtonMethod
| Newton method for one-dimensional root-finding. More...
class | NonlinearSpringDamperForce
| function describing a nonlinear relationship between the input deflection / relative velocity and the output for a spring More...
class | NumericalNewtonJacobianFunction
| class to compute the Jacobian matrix for the newton method numerically More...
class | NurbsCurve
| class that copies the nurbs++-library using the fmatvec as a basis-math-library More...
class | NurbsSurface
| A class to represent a NURBS surface. More...
class | Object
| class for all objects having own dynamics and mass More...
class | ObjectFactory
class | ObjectFactoryRegisterClassHelper
class | Observer
class | ODEXIntegrator
| ODE-Integrator ODEX. More...
class | OpenMBVArrow
class | OpenMBVBody
class | OpenMBVCoilSpring
class | OpenMBVColoredBody
class | OpenMBVDynamicColoredBody
class | OpenMBVFrame
class | OpenMBVFrictionArrow
class | OpenMBVInteractionArrow
class | OpenMBVLine
class | OpenMBVPlanarContour
class | OpenMBVPlane
class | OpenMBVSpatialContour
class | PHEM56Integrator
| DAE-Integrator PHEM56. More...
class | PiecewiseDefinedFunction
class | PiecewiseDefinedFunction< Ret(Arg)>
class | PiecewisePolynomFunction
class | PiecewisePolynomFunction< Ret(Arg)>
| class for piecewise-polynomials and cubic spline interpolation More...
class | PlanarContour
| analytical description of contours with one contour parameter More...
class | PlanarCoulombFriction
| basic planar friction force law on acceleration level for constraint description More...
class | PlanarCoulombImpact
| basic planar friction force law on velocity level for constraint description More...
class | PlanarFrustum
| planar slice of a frustum More...
class | PlanarGear
| planar gear contour More...
class | PlanarNurbsContour
| nurbs curve More...
class | PlanarStribeckFriction
| planar Stribeck friction force law on acceleration level for constraint description More...
class | PlanarStribeckImpact
| planar Stribeck friction force law on velocity level for constraint description More...
class | Plane
| plane without borders More...
class | PlaneWithFrustum
| plane without borders and a frustum on reference kos More...
class | Plate
| RigidContour Plate. More...
class | PlotFeatureEnum
struct | PlotFeatureEnumOp
class | Point
| most primitive contour: the point (no extention) More...
class | PolarContourFunction
class | PolyFurstumSphereContact
class | PolyFurstumSphereContactJacobian
class | PolynomFunction
class | PolynomFunction< Ret(Arg)>
class | PolynomialFrustum
| Frustum contour with a polynomial radius over height course. More...
class | projectPointAlongNormal
| function that is zero for a height-coordinate of the polynomial frustum on which the normal on that point points towards the given outer point More...
class | projectPointAlongNormalJacobian
| the Jacobian function for the projectAlongNormal Function More...
class | QuadraticFunction
class | QuadraticFunction< Ret(Arg)>
class | QuasiStaticIntegrator
class | Rack
| rack contour More...
class | RADAU5Integrator
| DAE-Integrator RADAU5. More...
class | RADAUIntegrator
| DAE-Integrator RADAU. More...
class | RegulaFalsi
| Regular Falsi for one-dimensional root-finding. More...
class | RegularizedBilateralConstraint
| basic regularized bilateral force law on acceleration level for constraint description More...
class | RegularizedConstraint
| basic regularized force law on acceleration level for constraint description More...
class | RegularizedFriction
| basic regularized friction force law on acceleration level for constraint description More...
class | RegularizedPlanarFriction
class | RegularizedSpatialFriction
class | RegularizedUnilateralConstraint
| basic regularized unilateral force law on acceleration level for constraint description More...
struct | RGBColor
| defines additive color using values for each color between [0,1] More...
class | RigidBody
| rigid bodies with arbitrary kinematics More...
class | RigidBodyLink
class | RigidBodyObserver
class | RigidContour
| basic class for rigid contours More...
class | RKSuiteIntegrator
| ODE-Integrator RKSuite. More...
class | RODASIntegrator
| DAE-Integrator RODAS. More...
class | Room
| Room with 6 faces pointing inwards. More...
class | RootFindingIntegrator
| Integrator with root-finding. More...
class | RotationAboutAxesXY
class | RotationAboutAxesXYZ
| rotation class for rotation about all three axes using the cardan description More...
class | RotationAboutAxesXYZMapping
class | RotationAboutAxesXYZTransformedMapping
class | RotationAboutAxesXZ
class | RotationAboutAxesYZ
class | RotationAboutAxesZXZ
class | RotationAboutAxesZXZMapping
class | RotationAboutAxesZXZTransformedMapping
class | RotationAboutAxesZYX
class | RotationAboutAxesZYXMapping
class | RotationAboutAxesZYXTransformedMapping
class | RotationAboutFixedAxis
class | RotationAboutThreeAxes
| rotation class for rotation about three axes More...
class | RotationAboutXAxis
class | RotationAboutYAxis
class | RotationAboutZAxis
class | SEULEXIntegrator
| DAE-Integrator SEULEX. More...
class | SignumFunction
class | SignumFunction< Ret(Arg)>
class | SingleContact
| class for contacts More...
class | SingleContactObserver
class | SinusoidalFunction
class | SinusoidalFunction< Ret(Arg)>
class | Solver
| solver-interface for dynamic systems More...
class | SpatialContour
| analytical description of contours with two contour parameters More...
class | SpatialCoulombFriction
| basic spatial friction force law on acceleration level for constraint description More...
class | SpatialCoulombImpact
| basic spatial friction force law on velocity level for constraint description More...
class | SpatialNurbsContour
| nurbs surface More...
class | SpatialStribeckFriction
| spatial Stribeck friction force law on acceleration level for constraint description More...
class | SpatialStribeckImpact
| spatial Stribeck friction force law on velocity level for constraint description More...
class | Sphere
| sphere More...
class | SpringDamper
| A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames. More...
class | StandardDampingFunction
class | StateDependentFunction
struct | StateTable
class | StopWatch
class | SymbolicFunction
class | SymbolicFunction< Ret(Arg)>
class | SymbolicFunction< Ret(Arg1, Arg2)>
class | TabularFunction
class | TabularFunction< Ret(Arg)>
class | ThetaTimeSteppingIntegrator
class | ThetaTimeSteppingSSCIntegrator
class | TimeDependentFunction
class | TimeSteppingIntegrator
class | TimeSteppingSSCIntegrator
| Half-explicit time-stepping integrator of first or higer order with StepSize Control (SSC) important options / settings : More...
class | ToDouble
class | ToDouble< double >
class | ToDouble< fmatvec::RowVector< Row, double > >
class | ToDouble< fmatvec::Vector< Col, double > >
class | TranslationAlongAxesXY
class | TranslationAlongAxesXYZ
class | TranslationAlongAxesXZ
class | TranslationAlongAxesYZ
class | TranslationAlongFixedAxis
class | TranslationAlongXAxis
class | TranslationAlongYAxis
class | TranslationAlongZAxis
class | TwoDimensionalPiecewisePolynomFunction
class | TwoDimensionalPiecewisePolynomFunction< Ret(Arg1, Arg2)>
class | TwoDimensionalTabularFunction
class | TwoDimensionalTabularFunction< Ret(Arg1, Arg2)>
class | Tyre
class | TyreContact
class | TyreContactObserver
class | TyreModel
class | UnilateralConstraint
| basic unilateral force law on acceleration level for constraint description More...
class | UnilateralNewtonImpact
| basic unilateral force law on velocity level for constraint description More...
class | VectorValuedFunction
class | VectorValuedFunction< Ret(Arg)>

## Typedefs

typedef BoostOdeintDOS< BoostOdeintHelper::RKDOPRI5 > | BoostOdeintDOS_RKDOPRI5
typedef BoostOdeintDOS< BoostOdeintHelper::BulirschStoer > | BoostOdeintDOS_BulirschStoer
typedef BoostOdeintDOS< BoostOdeintHelper::Euler > | BoostOdeintDOS_Euler
typedef BoostOdeintDOS< BoostOdeintHelper::Rosenbrock4 > | BoostOdeintDOS_Rosenbrock4
typedef int | Index
typedef std::unordered_set< std::reference_wrapper< const InitConfigEnum >, InitConfigEnumOp, InitConfigEnumOp > | InitConfigSet
typedef std::unordered_map< std::reference_wrapper< const PlotFeatureEnum >, bool, PlotFeatureEnumOp, PlotFeatureEnumOp > | PlotFeatureMap

## Functions

template<typename T >
int | sgn (T val)
| MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< Vec3(double(VecV))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
CompositeFunction< Vec3(VecV(VecV))> CompositeFunction< Vec3(VecV(double))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< RotMat3(double(VecV))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
CompositeFunction< Vec3(VecV(VecV))> CompositeFunction< Vec3(VecV(double))> CompositeFunction< RotMat3(VecV(VecV))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< RotMat3(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
CompositeFunction< Vec3(VecV(VecV))> CompositeFunction< Vec3(VecV(double))> CompositeFunction< RotMat3(VecV(VecV))> CompositeFunction< RotMat3(VecV(double))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< double(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
CompositeFunction< Vec3(VecV(VecV))> CompositeFunction< Vec3(VecV(double))> CompositeFunction< RotMat3(VecV(VecV))> CompositeFunction< RotMat3(VecV(double))> CompositeFunction< double(VecV(double))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< VecV(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
CompositeFunction< Vec3(VecV(VecV))> CompositeFunction< Vec3(VecV(double))> CompositeFunction< RotMat3(VecV(VecV))> CompositeFunction< RotMat3(VecV(double))> CompositeFunction< double(VecV(double))> CompositeFunction< VecV(VecV(double))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< Vec3(Vec2(Vec2))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
const MBXMLUtils::NamespaceURI | MBSIM ("http://www.mbsim-env.de/MBSim")
std::ostream & | operator<< (std::ostream &o, const LinearComplementarityProblem::LCPSolvingStrategy &strategy)
std::ostream & | operator<< (std::ostream &o, const LinearComplementarityProblem::JacobianType &jacobianType)
Vec | fslvLUMDNW (const SqrMat &a, const Vec &b, int &info)
Vec | fslvLSMDNW (const SqrMat &a, const Vec &b, int &info)
double | proxCN (const double arg, const double boundary=0)
| computes the prox-function for the set of real numbers that has a lower boundary : )boundary , infinity] More...
double | proxCT2D (const double arg, const double laNmue)
Vec | proxCT3D (const Vec &arg, const double laNmue)
fmatvec::Vec | proxCT3D (const fmatvec::Vec &arg, const double laNmue)
void | knotAveragingClosed (const VecV &uk, int deg, VecV &U)
| generates a knot vector using the averaging technique for interpolation with closed curve. More...
void | updateUVecs (double uMin, double uMax, fmatvec::VecV &u, int deg, fmatvec::VecV &U)
void | updateUVecsClosed (double uMin, double uMax, fmatvec::VecV &u, int deg, fmatvec::VecV &U)
void | basisFuns (double u, int span, int deg, const VecV &U, VecV &funs)
void | dersBasisFuns (int n, double u, int span, int deg, const VecV &U, Mat &ders)
void | binomialCoef (MatV &Bin)
| Setup a matrix containing binomial coefficients. More...
void | knotAveraging (const fmatvec::VecV &uk, int deg, fmatvec::VecV &U)
void | knotAveragingClosed (const fmatvec::VecV &uk, int deg, fmatvec::VecV &U)
void | basisFuns (double u, int span, int deg, const fmatvec::VecV &U, fmatvec::VecV &funs)
void | dersBasisFuns (int n, double u, int span, int deg, const fmatvec::VecV &U, fmatvec::Mat &ders)
void | binomialCoef (fmatvec::MatV &Bin)
int | surfMeshParamsH (const GeneralMatrix< fmatvec::Vec4 > &Qw, VecV &uk, VecV &vl)
int | surfMeshParamsClosedU (const GeneralMatrix< fmatvec::Vec3 > &Q, VecV &uk, VecV &vl, int degU)
int | surfMeshParamsClosedUH (const GeneralMatrix< fmatvec::Vec4 > &Qw, VecV &uk, VecV &vl, int degU)
int | surfMeshParams (const fmatvec::GeneralMatrix< fmatvec::Vec3 > &Q, fmatvec::VecV &uk, fmatvec::VecV &vl)
int | surfMeshParamsH (const fmatvec::GeneralMatrix< fmatvec::Vec4 > &Qw, fmatvec::VecV &uk, fmatvec::VecV &vl)
int | surfMeshParamsClosedU (const fmatvec::GeneralMatrix< fmatvec::Vec3 > &Q, fmatvec::VecV &uk, fmatvec::VecV &vl, int degU)
int | surfMeshParamsClosedUH (const fmatvec::GeneralMatrix< fmatvec::Vec4 > &Qw, fmatvec::VecV &uk, fmatvec::VecV &vl, int degU)
void | registerClass_internal (const FQN &name, const AllocateBase *alloc, const DeallocateBase *dealloc)
void | deregisterClass_internal (const FQN &name, const AllocateBase *alloc)
std::string | fixXMLLocalName (std::string name)
template<class EV >
void | registerEnum_internal (const MBXMLUtils::FQN &name, const EV &value)
template<class EV >
void | deregisterEnum_internal (const MBXMLUtils::FQN &name)
Range< Var, Var > | i02 (0, 2)
std::ostream & | operator<< (std::ostream &ofstream, const RGBColor &rgbColor)
double | computeAngleOnUnitCircle (const Vec3 &r)
Vec2 | computeAnglesOnUnitSphere (const Vec3 &r)
Vec3 | orthonormal (const Vec3 &n)
ContactKinematics * | findContactPairingRigidRigid (const type_info &contour0, const type_info &contour1)
double | computeAngleOnUnitCircle (const fmatvec::Vec3 &r)
| computes azimuthal angle More...
fmatvec::Vec2 | computeAnglesOnUnitSphere (const fmatvec::Vec3 &r)
| computes azimuthal and polar angles More...
fmatvec::Vec3 | orthonormal (const fmatvec::Vec3 &n)
| computes an orthonormal vector More...
ContactKinematics * | findContactPairingRigidRigid (const std::type_info &contour0, const std::type_info &contour1)
| defines contact kinematics between two contours More...
Vec | fslvLU (const SqrMat &a, const Vec &b)
Vec | fslvLS (const SqrMat &a, const Vec &b)
SqrMat3 | BasicRotAKIx (double phi)
| Basic Rotations (see Script TM Grundlagenfach) More...
SqrMat3 | BasicRotAKIy (double phi)
SqrMat3 | BasicRotAKIz (double phi)
Vec3 | AIK2Cardan (const SqrMat3 &AIK)
Vec3 | AIK2RevCardan (const SqrMat3 &AIK)
Vec3 | AIK2ParametersZXY (const SqrMat3 &AIK)
Vec3 | calcParametersDotZXY (const SqrMat3 &AIK, const Vec3 &KomegaK)
SqrMat3 | RotationAboutAxis (const Vec3 &a, double phi)
fmatvec::Vec3 | AIK2Phi (const fmatvec::SqrMat3 &AIK)
| calculate angles (alpha, beta, gamma) from rotation matrix AIK assuming small rotation
fmatvec::SqrMat3 | BasicRotAIKx (double phi)
fmatvec::SqrMat3 | BasicRotAIKy (double phi)
fmatvec::SqrMat3 | BasicRotAIKz (double phi)
fmatvec::Vec3 | AIK2Cardan (const fmatvec::SqrMat3 &AIK)
| Cardan parametrisation (x y z): calculate angles (alpha, beta, gamma) from rotation matrix AKI or AIK.
fmatvec::Vec3 | AKI2Cardan (const fmatvec::SqrMat3 &AKI)
fmatvec::Vec3 | AIK2RevCardan (const fmatvec::SqrMat3 &AIK)
| reversed Cardan parametrisation (z y x): calculate angles (alpha, beta, gamma) from rotation matrix AKI or AIK
fmatvec::Vec3 | AKI2RevCardan (const fmatvec::SqrMat3 &AKI)
fmatvec::Vec3 | AIK2ParametersZXY (const fmatvec::SqrMat3 &AIK)
| ZXY parametrisation (z -x -y) with parameters (angles) = [al; be; ga] first rotation: z-Axis (ga), 2nd rotation: x-Axis (al), 3rd rotation: y-Axis (be) calculates angles (alpha, beta, gamma) from rotation matrix AIK.
fmatvec::Vec3 | calcParametersDotZXY (const fmatvec::SqrMat3 &AIK, const fmatvec::Vec3 &KomegaK)
| kinematic equations to calculate [al_dot; be_dot; ga_dot] from AIK and KomegaK
fmatvec::SqrMat3 | Cardan2AIK (double alpha, double beta, double gamma)
| Cardan parametrisation (x y z): calculate AIK matrix from angles (alpha, beta, gamma)
fmatvec::SqrMat3 | Euler2AIK (double psi, double theta, double phi)
| Euler parametrisation: calculate AIK matrix from angles (psi, theta, phi); psi: Preazession; theta: Nutation; phi: Rotation.
fmatvec::SqrMat3 | RotationAboutAxis (const fmatvec::Vec3 &a, double phi)
| Rotation about an arbitrary axis.
double | sign (double x)
| Compute the sign of x.
double | ArcTan (double x, double y)
| calculates planar angle in [0,2\pi] with respect to Cartesian coordinates of: Arc Tangent (y/x) More...
Mat | cs2Mat (cs *sparseMat)
| calculate a fmatvec::Mat out of a sparse matrix
Vec3 | computeTangential (const Vec3 &n)
double | mod (double x, double y)
| Compute the modulo of x and y.
fmatvec::Vec3 | computeTangential (const fmatvec::Vec3 &n)
pair< reference_wrapper< const PlotFeatureEnum >, bool > | getPlotFeatureFromXML (const xercesc::DOMElement *e)

## Variables

double | tP = 20.0
bool | gflag = false
const PlotFeatureEnum | plotRecursive
const PlotFeatureEnum | openMBV
const PlotFeatureEnum | debug
const PlotFeatureEnum | position
const PlotFeatureEnum | angle
const PlotFeatureEnum | velocity
const PlotFeatureEnum | angularVelocity
const PlotFeatureEnum | acceleration
const PlotFeatureEnum | angularAcceleration
CompositeFunction< Vec3(VecV(VecV))> | MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< Vec3(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
const InitConfigEnum | noDer
const InitConfigEnum | noDerDer
bool | odePackInUse = false
const PlotFeatureEnum | generalizedRelativePosition
const PlotFeatureEnum | generalizedRelativeVelocity
const PlotFeatureEnum | generalizedForce
const PlotFeatureEnum | force
const PlotFeatureEnum | moment
const PlotFeatureEnum | deflection
const PlotFeatureEnum | generalizedPosition
const PlotFeatureEnum | generalizedVelocity
const PlotFeatureEnum | derivativeOfGeneralizedPosition
const PlotFeatureEnum | generalizedAcceleration
const PlotFeatureEnum | energy
const RGBColor | RED = {1, 0, 0}
const RGBColor | GREEN = {0, 1, 0}
const RGBColor | BLUE = {0, 0, 1}
const RGBColor | WHITE = {0, 0, 0}
const RGBColor | BLACK = {1, 1, 1}
const RGBColor | YELLOW = {1, 1, 0}
const RGBColor | DARKGRAY = {0.984, 0.984, 0.984}
const RGBColor | LIGHTGRAY = {0.827, 0.827, 0.827}
const double | epsroot = std::sqrt(macheps)
const double | epsrootInv = 1.0/epsroot
constexpr double | macheps = std::numeric_limits<double>::epsilon()

## Detailed Description

namespace MBSim

class for time measurement (timer, stopwatch)

Author
  Robert Huber

Date
  2010-05-11 portable version without gettimeofday added (if sys/time.h is not availible) (Robert Huber)
  2010-07-06 flag in StopWatch::stop to reset timer (Robert Huber)

## Function Documentation

## ◆ ArcTan()

double MBSim::ArcTan | ( | double | x,
|  | double | y
| ) |  |

calculates planar angle in [0,2\pi] with respect to Cartesian coordinates of: Arc Tangent (y/x)

Parameters

  Cartesian | x-coordinate
  Cartesian | y-coordinate

Returns
  angle

## ◆ BasicRotAKIx()

fmatvec::SqrMat3 MBSim::BasicRotAKIx | ( | double | phi | ) |

Basic Rotations (see Script TM Grundlagenfach)

Rotate CoSy I (angle phi) to obtain CoSy K

## ◆ binomialCoef()

void MBSim::binomialCoef | ( | MatV & | Bin | ) |

Setup a matrix containing binomial coefficients.

Setup the binomial coefficients into th matrix Bin

[ Bin(i,j) = \left( \begin{array}{c}i \ j\end{array} \right)] The binomical coefficients are defined as follow [ \left(\begin{array}{c} n \ k \end{array} \right)= \frac{ n!}{k!(n-k)!} \mbox{for $0\leq k \leq n$} ] and the following relationship applies [ \left(\begin{array}{c} n+1 \ k \end{array} \right) = \left(\begin{array}{c} n \ k \end{array} \right) + \left(\begin{array}{c} n \ k-1 \end{array} \right) ]

Parameters

  Bin | the binomial matrix

Author
  Philippe Lavoie

Date
  24 January, 1997

## ◆ computeAngleOnUnitCircle()

double MBSim::computeAngleOnUnitCircle | ( | const fmatvec::Vec3 & | r | ) |

computes azimuthal angle

Author
  Martin Foerg

Date
  some comments (Thorsten Schindler)

## ◆ computeAnglesOnUnitSphere()

fmatvec::Vec2 MBSim::computeAnglesOnUnitSphere | ( | const fmatvec::Vec3 & | r | ) |

computes azimuthal and polar angles

Author
  Martin Foerg

Date
  some comments (Thorsten Schindler)

## ◆ computeTangential()

fmatvec::Vec3 MBSim::computeTangential | ( | const fmatvec::Vec3 & | n | ) |

Returns
  perpendicular vector

Parameters

  input | vector

## ◆ findContactPairingRigidRigid()

ContactKinematics* MBSim::findContactPairingRigidRigid | ( | const std::type_info & | contour0,
|  | const std::type_info & | contour1
| ) |  |

defines contact kinematics between two contours

Author
  Martin Foerg

Date
  2009-07-14 some comments (Thorsten Schindler)
  2010-11-05 Interface changed (Markus Schneider)

## ◆ knotAveragingClosed()

void MBSim::knotAveragingClosed | ( | const VecV & | uk,
|  | int | deg,
|  | VecV & | U
| ) |  |

generates a knot vector using the averaging technique for interpolation with closed curve.

Generates a knot vector using the averaging technique for interpolation with closed curve. See eq 9.9 in the NURBS Book

Parameters

  uk | the knot coefficients
  deg | the degree of the curve associated with the knot vector
  U | an average knot vector

Author
  Alejandro Frangi

Date
  13 July, 1998

## ◆ orthonormal()

fmatvec::Vec3 MBSim::orthonormal | ( | const fmatvec::Vec3 & | n | ) |

computes an orthonormal vector

Author
  Martin Foerg

## ◆ proxCN()

double MBSim::proxCN | ( | const double | arg,
|  | const double | boundary = `0`
| ) |  |

computes the prox-function for the set of real numbers that has a lower boundary : )boundary , infinity]

Parameters

  the | argument of the prox-function
  the | lower boundary (=0, for no value)