mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

Public Member Functions | Private Member Functions | Private Attributes | List of all members
MBSimFlexibleBody::Weight33RCM Class Reference

integrals of bending parametrisation for FiniteElement1s33RCM More...

`#include <weight33RCM.h>`

## Public Member Functions

| Weight33RCM (double l0_, double l0h2_, double l0h3_, Trafo33RCMPtr tf_)
| constructor
virtual | ~Weight33RCM ()
| Destructor.
void | setCurvature (double k10_, double k20_)
void | setGauss (int nGauss)
const fmatvec::RowVec & | getvxvt () const
const fmatvec::Vec & | getvxvtH () const
const fmatvec::RowVec & | getxvxvt () const
const fmatvec::Vec & | getxvxvtH () const
const fmatvec::SymMat & | getvxvtwxwt () const
const fmatvec::RowVec & | getvvt () const
const fmatvec::Vec & | getvvtH () const
const fmatvec::RowVec & | getxvvt () const
const fmatvec::Vec & | getxvvtH () const
const fmatvec::SymMat & | getvvtwwt () const
const double & | getIwh1 () const
const double & | getIwh2 () const
const double & | getIwh1t () const
const double & | getIwh2t () const
const double & | getIxwh1 () const
const double & | getIxwh2 () const
const double & | getIxwh1t () const
const double & | getIxwh2t () const
const double & | getIwh1twh1 () const
const double & | getIwh1twh2 () const
const double & | getIwh1twh1t () const
const double & | getIwh1wh1 () const
const double & | getIwh1wh2t () const
const double & | getIwh1wh2 () const
const double & | getIwh2twh2t () const
const double & | getIwh2twh2 () const
const double & | getIwh2wh2 () const
const double & | getIwh1twh2t () const
const double & | getIwh1xwh1x () const
const double & | getIwh2xwh2x () const
const double & | getIwh1xxwh1xx () const
const double & | getIwh2xxwh2xx () const
const fmatvec::RowVec & | getIwh1xxwxxwt () const
const fmatvec::RowVec & | getIwh2xxwxxwt () const
const fmatvec::RowVec & | getIwh1wwt () const
const fmatvec::RowVec & | getIwh2wwt () const
const fmatvec::Vec & | getIwh1wwtH () const
const fmatvec::Vec & | getIwh2wwtH () const
const fmatvec::RowVec & | getIwh1twwt () const
const fmatvec::RowVec & | getIwh2twwt () const
const fmatvec::Vec & | getIwh1twwtH () const
const fmatvec::Vec & | getIwh2twwtH () const
const fmatvec::RowVec & | getIwh1xwxwt () const
const fmatvec::RowVec & | getIwh2xwxwt () const
const fmatvec::Vec & | getw1coef () const
const fmatvec::Vec & | getw2coef () const
const fmatvec::Vec & | getw1tcoef () const
const fmatvec::Vec & | getw2tcoef () const
const fmatvec::Mat & | getw1coefqI () const
const fmatvec::Mat & | getw2coefqI () const
const fmatvec::Vec & | getwh1coef () const
const fmatvec::Vec & | getwh2coef () const
const fmatvec::Vec & | getwh1tcoef () const
const fmatvec::Vec & | getwh2tcoef () const
const fmatvec::Mat & | getwh1coefqI () const
const fmatvec::Mat & | getwh2coefqI () const
fmatvec::Mat | getwh1coefqIH () const
fmatvec::Mat | getwh2coefqIH () const
const fmatvec::Mat & | getwh1tcoefqI () const
const fmatvec::Mat & | getwh2tcoefqI () const
const fmatvec::Mat & | getwh1coefqInunutH () const
const fmatvec::Mat & | getwh2coefqInunutH () const
const fmatvec::Mat & | gettSqI () const
const fmatvec::Mat & | getnSqI () const
const fmatvec::Mat & | getbSqI () const
const fmatvec::Mat & | getnSqIH () const
const fmatvec::Mat & | getbSqIH () const
const fmatvec::Mat & | gettStqI () const
const fmatvec::Mat & | getnStqI () const
const fmatvec::Mat & | getbStqI () const
const double & | getTtil () const
const fmatvec::RowVec & | getTtilqI () const
const fmatvec::SymMat & | getTtilqItqIt () const
const fmatvec::Vec & | getTtilqItqIqIt () const
const fmatvec::Mat & | getdpS () const
const fmatvec::Mat & | getdpSH () const
double | intv (const fmatvec::Vec &vt) const
double | intvx (const fmatvec::Vec &vt) const
double | intxv (const fmatvec::Vec &vt) const
double | intxvx (const fmatvec::Vec &vt) const
double | intvw (const fmatvec::Vec &vt, const fmatvec::Vec &wt) const
double | intvxwx (const fmatvec::Vec &vt, const fmatvec::Vec &wt) const
double | intvxxvxx (const fmatvec::Vec &vt, double C) const
void | intvvt ()
void | intvvtH ()
void | intvxvt ()
void | intvxvtH ()
void | intxvvt ()
void | intxvvtH ()
void | intxvxvt ()
void | intxvxvtH ()
fmatvec::RowVec | intvwwt (const fmatvec::Vec &vt) const
fmatvec::RowVec | intvxwxwt (const fmatvec::Vec &vt) const
fmatvec::RowVec | intvxxwxxwt (const fmatvec::Vec &vt, double C) const
void | intvvtwwt ()
void | intvxvtwxwt ()
void | computeint (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| computes the integrals of bending polynomials More...
void | computeintD (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| computes the vector integrals of bending polynomials More...
void | computewcoefPos (const fmatvec::Vec &qG)
| computes the coefficients of bending polynomials w More...
void | computewcoefVel (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| computes the time differentiated coefficients of bending polynomials w More...
void | computewhcoefPos (const fmatvec::Vec &qG)
| computes the coefficients of bending polynomials w and wh More...
void | computewhcoefVel (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
| computes the coefficients of bending polynomials w and wh and their time derivatives More...
void | computewcoefPosD ()
| computes the derivative of w-coefficients with respect to bending coordinates
void | computewhcoefPosD (const fmatvec::Vec &qG)
| computes bending polynomial values on position level More...
fmatvec::Vec | computewcoef (double dL, double dR, double bL, double bR) const
| computes the coefficients of w and wt More...
fmatvec::Vec | computew (const fmatvec::Vec &wt, double x) const
| evaluates the bending polynomial and its x-derivative More...

## Private Member Functions

void | computeint ()
| computes the integrals of bending polynomials
void | computewcoefPos ()
| computes the coefficients of bending polynomials w
void | computewcoefVel ()
| computes the time differentiated coefficients of bending polynomials w
void | computewhcoefPos ()
| computes the coefficients of bending polynomials w and wh
void | computewhcoefVel ()
| computes the coefficients of bending polynomials w and wh and their time derivatives
void | computewhcoefPosD ()
| computes bending polynomial values on position level
void | computewhcoefVelD ()
| computes bending polynomial values on velocity level
void | computeomgt (double x)
| compute angular velocity around tangent
void | computeT ()
| compute rotational kinetic energy
void | computedpS ()
| compute delta matrix for CP with respect to rotation

## Private Attributes

Trafo33RCMPtr | tf
| Trafo-Object.
double | l0
| length of FEM1s33RCM
double | l0h2
double | l0h3
double | l0h4
double | l0h5
double | l0h7
double | l0h9
double | l0h11
double | k10
| predefined bendings
double | k20
fmatvec::RowVec | Ivvt
| general integrals
fmatvec::RowVec | Ivxvt
fmatvec::RowVec | Ixvvt
fmatvec::RowVec | Ixvxvt
fmatvec::SymMat | Ivvtwwt
fmatvec::SymMat | Ivxvtwxwt
fmatvec::Vec | IvvtH
fmatvec::Vec | IvxvtH
fmatvec::Vec | IxvvtH
fmatvec::Vec | IxvxvtH
double | Iwh1
| special integrals
double | Iwh2
double | Iwh1t
double | Iwh2t
double | Ixwh1
double | Ixwh2
double | Ixwh1t
double | Ixwh2t
double | Iwh1twh1
double | Iwh1twh2
double | Iwh1twh1t
double | Iwh1wh1
double | Iwh1wh2t
double | Iwh1wh2
double | Iwh2twh2t
double | Iwh2twh2
double | Iwh2wh2
double | Iwh1twh2t
fmatvec::RowVec | Iwh1wwt
fmatvec::RowVec | Iwh1twwt
fmatvec::RowVec | Iwh2wwt
fmatvec::RowVec | Iwh2twwt
fmatvec::Vec | Iwh1wwtH
fmatvec::Vec | Iwh1twwtH
fmatvec::Vec | Iwh2wwtH
fmatvec::Vec | Iwh2twwtH
double | Iwh1xwh1x
double | Iwh2xwh2x
double | Iwh1xxwh1xx
double | Iwh2xxwh2xx
fmatvec::RowVec | Iwh1xwxwt
fmatvec::RowVec | Iwh2xwxwt
fmatvec::RowVec | Iwh1xxwxxwt
fmatvec::RowVec | Iwh2xxwxxwt
fmatvec::Vec | w1coef
| bending coefficients
fmatvec::Vec | w2coef
fmatvec::Vec | w1tcoef
fmatvec::Vec | w2tcoef
fmatvec::Vec | wh1coef
fmatvec::Vec | wh2coef
fmatvec::Vec | wh1tcoef
fmatvec::Vec | wh2tcoef
fmatvec::Mat | w1coefqI
fmatvec::Mat | w2coefqI
fmatvec::Mat | wh1coefqI
fmatvec::Mat | wh2coefqI
fmatvec::Mat | wh1tcoefqI
fmatvec::Mat | wh2tcoefqI
fmatvec::Mat | wh1coefqInunutH
fmatvec::Mat | wh2coefqInunutH
fmatvec::Mat | tSqI
| COSY.
fmatvec::Mat | nSqI
fmatvec::Mat | bSqI
fmatvec::Mat | tStqI
fmatvec::Mat | nStqI
fmatvec::Mat | bStqI
fmatvec::Mat | nSqIH
fmatvec::Mat | bSqIH
fmatvec::Mat | ntilSqI
fmatvec::Mat | btilSqI
fmatvec::RowVec | xintilqI
fmatvec::RowVec | xibtilqI
fmatvec::RowVec | etantilqI
fmatvec::RowVec | etabtilqI
double | omgt
| omgtS
fmatvec::RowVec | omgtqI
fmatvec::RowVec | omgtqIt
fmatvec::Vec | omgtqItqIqIt
double | Ttil
| rotational kinetic energy
fmatvec::RowVec | TtilqI
fmatvec::SymMat | TtilqItqIt
fmatvec::Vec | TtilqItqIqIt
fmatvec::Vec | gp
| Gauss integration.
fmatvec::Vec | xip
double | bam
fmatvec::Mat | dpS
| delta matrix for pS
fmatvec::Mat | dpSH

## Detailed Description

integrals of bending parametrisation for FiniteElement1s33RCM

Author
  Thorsten Schindler

Date
  2009-04-24 initial commit (Thorsten Schindler)

## Member Function Documentation

## ◆ computeint()

void MBSimFlexibleBody::Weight33RCM::computeint | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

computes the integrals of bending polynomials

Parameters

  global | coordinates
  global | velocities

## ◆ computeintD()

void MBSimFlexibleBody::Weight33RCM::computeintD | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

computes the vector integrals of bending polynomials

Parameters

  global | coordinates
  global | velocities

## ◆ computew()

Vec MBSimFlexibleBody::Weight33RCM::computew | ( | const fmatvec::Vec & | wt,
|  | double | x
| ) |  | const

evaluates the bending polynomial and its x-derivative

Parameters

  point | of evaluation

## ◆ computewcoef()

Vec MBSimFlexibleBody::Weight33RCM::computewcoef | ( | double | dL,
|  | double | dR,
|  | double | bL,
|  | double | bR
| ) |  | const

computes the coefficients of w and wt

Parameters

  left | translational deflection
  right | translational deflection
  left | rotational deflection
  right | rotational deflection

## ◆ computewcoefPos()

void MBSimFlexibleBody::Weight33RCM::computewcoefPos | ( | const fmatvec::Vec & | qG | ) |

computes the coefficients of bending polynomials w

Parameters

  global | coordinates

## ◆ computewcoefVel()

void MBSimFlexibleBody::Weight33RCM::computewcoefVel | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

computes the time differentiated coefficients of bending polynomials w

Parameters

  global | coordinates
  global | velocities

## ◆ computewhcoefPos()

void MBSimFlexibleBody::Weight33RCM::computewhcoefPos | ( | const fmatvec::Vec & | qG | ) |

computes the coefficients of bending polynomials w and wh

Parameters

  global | coordinates

## ◆ computewhcoefPosD()

void MBSimFlexibleBody::Weight33RCM::computewhcoefPosD | ( | const fmatvec::Vec & | qG | ) |

computes bending polynomial values on position level

Parameters

  global | coordinates

## ◆ computewhcoefVel()

void MBSimFlexibleBody::Weight33RCM::computewhcoefVel | ( | const fmatvec::Vec & | qG,
|  | const fmatvec::Vec & | qGt
| ) |  |

computes the coefficients of bending polynomials w and wh and their time derivatives

Parameters

  global | coordinates
  global | velocities

## ◆ setCurvature()

void MBSimFlexibleBody::Weight33RCM::setCurvature | ( | double | k10_,
|  | double | k20_
| ) |  |

inline

Parameters

  first | curvature
  second | curvature

## ◆ setGauss()

void MBSimFlexibleBody::Weight33RCM::setGauss | ( | int | nGauss | ) |

Parameters

  number | of Gauss points

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

- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/weight33RCM.h
- /mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/weight33RCM.cc