mbsim 4.0.0 MBSim Kernel

floating_frame_link.h
1 /* Copyright (C) 2004-2016 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: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _FLOATING_FRAME_LINK_H_
21 #define _FLOATING_FRAME_LINK_H_
22
23 #include "mbsim/links/frame_link.h"
24 #include "mbsim/frames/floating_relative_frame.h"
25 #include "mbsim/utils/index.h"
26
27 namespace MBSim {
32 class FloatingFrameLink : public FrameLink {
33 public:
34 enum FrameOfReference {
35 firstFrame=0,
36 secondFrame,
37 unknown
38 };
39
44 FloatingFrameLink(const std::string &name);
45
46 void init(InitStage stage, const InitConfigSet &config) override;
47
48 void calcSize() override;
49 void calclaSize(int j) override;
50 void calcgSize(int j) override;
51 void calcgdSize(int j) override;
52 void calcrFactorSize(int j) override;
53 void calccorrSize(int j) override;
54
55 void initializeUsingXML(xercesc::DOMElement *element) override;
56
57 void updateW(int i = 0) override;
58 void updateh(int i = 0) override;
59 void updateg() override;
60 void updategd() override;
61
65 void setFrameOfReference(FrameOfReference refFrame_) { refFrame = refFrame_; }
66
67 void resetUpToDate() override;
68 void updatePositions(Frame *frame) override;
69 void updateVelocities() override;
70 void updateGeneralizedPositions() override;
71 void updateGeneralizedVelocities() override;
72 void updateForceDirections() override;
73
74 virtual fmatvec::VecV evalGeneralizedRelativePositionOfRotation() { return x; }
75
76 protected:
80 fmatvec::Mat3xV forceDir, momentDir;
81
85 FrameOfReference refFrame{firstFrame};
86
90 FloatingRelativeFrame C;
91 };
92 }
93
94 #endif
MBSim::Link::x
fmatvec::Vec x
order one parameters
Definition: link.h:462
MBSim::FloatingFrameLink::setFrameOfReference
void setFrameOfReference(FrameOfReference refFrame_)
The frame of reference for the force/moment direction vectors. If firstFrame (default) the first fram...
Definition: floating_frame_link.h:65
MBSim::FloatingFrameLink
floating frame link
Definition: floating_frame_link.h:32
MBSim::FrameLink::frame
std::vector< Frame * > frame
array in which all frames are listed, connecting bodies via a link
Definition: frame_link.h:83
MBSim::FloatingFrameLink::FloatingFrameLink
FloatingFrameLink(const std::string &name)
constructor
Definition: floating_frame_link.cc:30
MBSim::FloatingRelativeFrame
cartesian frame on rigid bodies
Definition: floating_relative_frame.h:31
MBSim::FloatingFrameLink::C
FloatingRelativeFrame C
own frame located in second partner with same orientation as first partner
Definition: floating_frame_link.h:90
MBSim::FloatingFrameLink::forceDir
fmatvec::Mat3xV forceDir
directions of force and moment in frame of reference
Definition: floating_frame_link.h:80
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::FloatingFrameLink::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: floating_frame_link.cc:115
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::FrameLink
frame link
Definition: frame_link.h:31
MBSim::FloatingFrameLink::calcrFactorSize
void calcrFactorSize(int j) override
calculates size of rfactors
Definition: floating_frame_link.cc:58
MBSim::FloatingFrameLink::calcgdSize
void calcgdSize(int j) override
calculates size of gap velocities
Definition: floating_frame_link.cc:54
MBSim::FloatingFrameLink::calclaSize
void calclaSize(int j) override
calculates size of contact force parameters
Definition: floating_frame_link.cc:46
MBSim::FloatingFrameLink::calcgSize
void calcgSize(int j) override
calculates size of relative distances
Definition: floating_frame_link.cc:50
MBSim::FloatingFrameLink::refFrame
FrameOfReference refFrame
frame of reference the force is defined in
Definition: floating_frame_link.h:85
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30