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| RigidBody (const std::string &name="") |
| constructor More...
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virtual | ~RigidBody () |
| destructor
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void | addDependency (Constraint *constraint_) |
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virtual void | updatedq (double t, double dt) |
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virtual void | updateqd (double t) |
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virtual void | updateT (double t) |
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virtual void | updateh (double t, int j=0) |
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virtual void | updatehInverseKinetics (double t, int j=0) |
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virtual void | updateStateDerivativeDependentVariables (double t) |
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virtual void | updateM (double t, int i=0) |
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virtual void | updateStateDependentVariables (double t) |
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virtual void | updateJacobians (double t, int j=0) |
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void | updateJacobians0 (double t) |
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void | updateJacobians1 (double t) |
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virtual void | calcqSize () |
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virtual void | calcuSize (int j=0) |
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virtual void | updateqRef (const fmatvec::Vec &ref) |
| references to positions of dynamic system parent More...
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virtual void | updateuRef (const fmatvec::Vec &ref) |
| references to velocities of dynamic system parent More...
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virtual void | init (InitStage stage) |
| initialize object at start of simulation with respect to contours and frames
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virtual void | initz () |
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virtual void | facLLM (int i=0) |
| perform Cholesky decomposition of mass martix
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virtual void | setUpInverseKinetics () |
| TODO.
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virtual std::string | getType () const |
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virtual void | plot (double t, double dt=1) |
| plots time dependent data More...
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virtual void | updateKinematicsForSelectedFrame (double t) |
| updates kinematics of kinematic Frame starting from reference Frame
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virtual void | updateJacobiansForSelectedFrame0 (double t) |
| updates JACOBIAN for kinematics starting from reference Frame
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virtual void | updateKinematicsForRemainingFramesAndContours (double t) |
| updates kinematics for remaining Frames starting with and from cog Frame
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virtual void | updateJacobiansForRemainingFramesAndContours (double t, int j=0) |
| updates remaining JACOBIANS for kinematics starting with and from cog Frame
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virtual void | updateJacobiansForRemainingFramesAndContours1 (double t) |
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void | setGeneralTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_) |
| set Kinematic for genral translational motion More...
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void | setTimeDependentTranslation (Function< fmatvec::Vec3(double)> *fPrPK_) |
| set Kinematic for only time dependent translational motion More...
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void | setStateDependentTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_) |
| set Kinematic for only state dependent translational motion More...
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void | setTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_) |
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void | setTranslation (Function< fmatvec::Vec3(double)> *fPrPK_) |
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void | setTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_) |
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void | setGeneralRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_) |
| set Kinematic for general rotational motion More...
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void | setTimeDependentRotation (Function< fmatvec::RotMat3(double)> *fAPK_) |
| set Kinematic for only time dependent rotational motion More...
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void | setStateDependentRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_) |
| set Kinematic for only state dependent rotational motion More...
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void | setRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_) |
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void | setRotation (Function< fmatvec::RotMat3(double)> *fAPK_) |
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void | setRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_) |
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void | setTranslationDependentRotation (bool dep) |
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void | setCoordinateTransformationForRotation (bool ct) |
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Function< fmatvec::Vec3(fmatvec::VecV,
double)> * | getTranslation () |
| get Kinematic for translational motion More...
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Function< fmatvec::RotMat3(fmatvec::VecV,
double)> * | getRotation () |
| get Kinematic for rotational motion More...
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void | setMass (double m_) |
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double | getMass () const |
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FixedRelativeFrame * | getFrameForKinematics () |
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FixedRelativeFrame * | getFrameC () |
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void | setInertiaTensor (const fmatvec::SymMat3 &RThetaR) |
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const fmatvec::SymMat3 & | getInertiaTensor () const |
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fmatvec::SymMat3 & | getInertiaTensor () |
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void | addFrame (FixedRelativeFrame *frame) |
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void | setFrameForKinematics (Frame *frame) |
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void | setFrameForInertiaTensor (Frame *frame) |
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virtual void | initializeUsingXML (xercesc::DOMElement *element) |
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virtual xercesc::DOMElement * | writeXMLFile (xercesc::DOMNode *element) |
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virtual void | updatePositionAndOrientationOfFrame (double t, Frame *P) |
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virtual void | updateAccelerations (double t, Frame *P) |
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virtual void | updateRelativeJacobians (double t, Frame *P) |
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virtual void | updateRelativeJacobians (double t, Frame *P, fmatvec::Mat3xV &WJTrel, fmatvec::Mat3xV &WJRrel) |
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const fmatvec::Mat3xV & | getWJTrel () const |
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const fmatvec::Mat3xV & | getWJRrel () const |
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fmatvec::Mat3xV & | getWJTrel () |
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fmatvec::Mat3xV & | getWJRrel () |
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fmatvec::Mat & | getJRel (int i=0) |
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fmatvec::Vec & | getjRel () |
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fmatvec::Vec & | getqRel () |
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fmatvec::Vec & | getuRel () |
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fmatvec::Mat & | getTRel () |
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fmatvec::Mat3xV & | getPJT (int i=0) |
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fmatvec::Mat3xV & | getPJR (int i=0) |
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int | getqRelSize () const |
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int | getuRelSize (int i=0) const |
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bool | transformCoordinates () const |
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Public Member Functions inherited from MBSim::Body |
| Body (const std::string &name) |
| constructor More...
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virtual | ~Body () |
| destructor
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void | setInitialGeneralizedPosition (const fmatvec::Vec &q0_) |
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void | setInitialGeneralizedVelocity (const fmatvec::Vec &u0_) |
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void | setInitialGeneralizedPosition (double q0_) |
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void | setInitialGeneralizedVelocity (double u0_) |
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void | sethSize (int hSize_, int i=0) |
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void | sethInd (int hInd_, int i=0) |
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virtual void | closePlot () |
| closes plot file
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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
| sets the used dynamics system solver to the element More...
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virtual Contour * | getContour (const std::string &name, bool check=true) const |
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virtual Frame * | getFrame (const std::string &name, bool check=true) const |
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virtual Frame * | getFrameOfReference () |
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virtual const Frame * | getFrameOfReference () const |
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virtual void | setFrameOfReference (Frame *frame) |
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const std::vector< Frame * > & | getFrames () const |
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const std::vector< Contour * > & | getContours () const |
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int | frameIndex (const Frame *frame_) const |
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int | contourIndex (const Contour *contour_) const |
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virtual Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const |
| Get the Element named name in the container named container.
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fmatvec::Mat3xV & | getPJT (int i=0) |
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fmatvec::Mat3xV & | getPJR (int i=0) |
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int | getuRelSize (int i=0) const |
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| Object (const std::string &name) |
| constructor
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virtual | ~Object () |
| destructor
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virtual void | updatedhdz (double t) |
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virtual void | updatedu (double t, double dt) |
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virtual void | updateud (double t, int i=0) |
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virtual void | updatezd (double t) |
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virtual int | gethSize (int i=0) const |
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virtual int | getqSize () const |
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virtual int | getuSize (int i=0) const |
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virtual int | getuInd (int i=0) |
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virtual void | setqInd (int qInd_) |
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virtual void | setuInd (int uInd_, int i=0) |
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virtual const fmatvec::Vec & | getq () const |
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virtual const fmatvec::Vec & | getu () const |
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virtual H5::GroupBase * | getPlotGroup () |
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virtual PlotFeatureStatus | getPlotFeature (PlotFeature fp) |
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virtual PlotFeatureStatus | getPlotFeatureForChildren (PlotFeature fp) |
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virtual void | updatedx (double t, double dt) |
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virtual void | updatexd (double t) |
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virtual void | calcxSize () |
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virtual const fmatvec::Vec & | getx () const |
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virtual fmatvec::Vec & | getx () |
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virtual void | setxInd (int xInd_) |
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virtual int | getxSize () const |
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virtual void | updatexRef (const fmatvec::Vec &ref) |
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virtual void | updatexdRef (const fmatvec::Vec &ref) |
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virtual void | updateqdRef (const fmatvec::Vec &qdRef) |
| references to differentiated positions of dynamic system parent More...
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virtual void | updateuallRef (const fmatvec::Vec &uallRef) |
| references to velocities of dynamic system parent More...
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virtual void | updateudRef (const fmatvec::Vec &udRef, int i=0) |
| references to differentiated velocities of dynamic system parent More...
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virtual void | updateudallRef (const fmatvec::Vec &udallRef, int i=0) |
| references to differentiated velocities of dynamic system parent More...
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virtual void | updatehRef (const fmatvec::Vec &hRef, int i=0) |
| references to smooth force vector of dynamic system parent More...
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virtual void | updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding positions More...
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virtual void | updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding velocities More...
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virtual void | updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding time More...
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virtual void | updaterRef (const fmatvec::Vec &ref, int i=0) |
| references to nonsmooth force vector of dynamic system parent More...
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virtual void | updateTRef (const fmatvec::Mat &ref) |
| references to linear transformation matrix between differentiated positions and velocities of dynamic system parent More...
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virtual void | updateMRef (const fmatvec::SymMat &ref, int i=0) |
| references to mass matrix of dynamic system parent More...
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virtual void | updateLLMRef (const fmatvec::SymMat &ref, int i=0) |
| references to Cholesky decomposition of dynamic system parent More...
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virtual void | writez (H5::GroupBase *group) |
| writes its z-Vector to a subgroup of the given group
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virtual void | readz0 (H5::GroupBase *group) |
| reads the z-Vector of a subgroup of the given group
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virtual void | calcSize (int j) |
| calculates size of right hand side More...
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virtual double | computeKineticEnergy () |
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virtual double | computePotentialEnergy () |
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void | setqSize (int qSize_) |
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void | setuSize (int uSize_, int i=0) |
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int | getzSize () const |
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int | gethInd (int i=0) |
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const fmatvec::Vec & | geth (int i=0) const |
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fmatvec::Vec & | geth (int i=0) |
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const fmatvec::Vec & | getr (int i=0) const |
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fmatvec::Vec & | getr (int i=0) |
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const fmatvec::SymMat & | getM (int i=0) const |
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fmatvec::SymMat & | getM (int i=0) |
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const fmatvec::Mat & | getT () const |
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fmatvec::Mat & | getT () |
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const fmatvec::SymMat & | getLLM (int i=0) const |
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fmatvec::SymMat & | getLLM (int i=0) |
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fmatvec::Vec & | getq () |
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fmatvec::Vec & | getu () |
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const fmatvec::Vec & | getq0 () const |
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const fmatvec::Vec & | getu0 () const |
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fmatvec::Vec & | getq0 () |
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fmatvec::Vec & | getu0 () |
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const fmatvec::Vec & | getqd () const |
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const fmatvec::Vec & | getud (int i=0) const |
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fmatvec::Vec & | getqd () |
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fmatvec::Vec & | getud (int i=0) |
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void | setq (const fmatvec::Vec &q_) |
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void | setu (const fmatvec::Vec &u_) |
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| Element (const std::string &name) |
| constructor
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virtual | ~Element () |
| destructor
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virtual void | initDataInterfaceBase (DynamicSystemSolver *parentds) |
| TODO.
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virtual void | plotAtSpecialEvent (double t, double dt=1) |
| plots time dependent data at special events More...
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const std::string & | getName () const |
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void | setName (const std::string &str) |
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void | setPath (const std::string &str) |
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DynamicSystemSolver * | getDynamicSystemSolver () |
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virtual void | createPlotGroup () |
| creates the plotGroup for H5-output
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H5::GroupBase * | getPlotGroup () |
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virtual void | setPlotFeature (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature. More...
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void | setPlotFeatureForChildren (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature for the children of this object. More...
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void | setPlotFeatureRecursive (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature for this object and the children of this object. More...
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PlotFeatureStatus | getPlotFeature (PlotFeature pf) |
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PlotFeatureStatus | getPlotFeatureForChildren (PlotFeature pf) |
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const std::vector
< MBXMLUtils::EmbedDOMLocator > & | getLocationStack () const |
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template<class T > |
T * | getByPath (const std::string &path, bool initialCaller=true) const |
| Get the object of type T represented by the path path. Do not set any argurment other than path!
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std::string | getPath (const Element *relTo=NULL, std::string sep="/") const |
| Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!
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virtual Element * | getParent () |
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virtual const Element * | getParent () const |
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virtual void | setParent (Element *parent_) |
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std::vector< Element * > | getElementsDependingOn () const |
| checks dependency on other elements. More...
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void | addDependency (Element *ele) |
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int | computeLevel () |
| computes the length of the pathes in the graph that represents the dependencies between all elements. More...
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Atom & | operator= (const Atom &) |
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void | setMessageStreamActive (MsgType type, bool active) |
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void | getMessageStream (MsgType type, boost::shared_ptr< bool > &a, boost::shared_ptr< std::ostream > &s) |
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void | adoptMessageStreams (const Atom *src=NULL) |
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std::ostream & | msg (MsgType type) |
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bool | msgAct (MsgType type) |
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double | m |
| mass
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fmatvec::SymMat3 | SThetaS |
| inertia tensor with respect to centre of gravity in centre of gravity and world Frame
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fmatvec::SymMat3 | WThetaS |
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FixedRelativeFrame * | K |
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fmatvec::SymMat | Mbuf |
| TODO.
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bool | coordinateTransformation |
| boolean to use body fixed Frame for rotation
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fmatvec::Vec3 | PjhT |
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fmatvec::Vec3 | PjhR |
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fmatvec::Vec3 | PjbT |
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fmatvec::Vec3 | PjbR |
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fmatvec::SqrMat3 | APK |
| rotation matrix from kinematic Frame to parent Frame
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fmatvec::Vec3 | PrPK |
| translation from parent to kinematic Frame in parent and world system
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fmatvec::Vec3 | WrPK |
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fmatvec::Vec3 | WvPKrel |
| translational and angular velocity from parent to kinematic Frame in world system
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fmatvec::Vec3 | WomPK |
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Function< fmatvec::MatV(fmatvec::VecV)> * | fTR |
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Function< fmatvec::Vec3(fmatvec::VecV,
double)> * | fPrPK |
| translation from parent Frame to kinematic Frame in parent system
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Function< fmatvec::RotMat3(fmatvec::VecV,
double)> * | fAPK |
| rotation from kinematic Frame to parent Frame
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void(RigidBody::* | updateM_ )(double t, int i) |
| function pointer to update mass matrix
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void(RigidBody::* | facLLM_ )(int i) |
| function pointer for Cholesky decomposition of mass matrix
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void(RigidBody::* | updateJacobians_ [2])(double t) |
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FixedRelativeFrame * | C |
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fmatvec::Vec | aT |
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fmatvec::Vec | aR |
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fmatvec::Vec | qRel |
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fmatvec::Vec | uRel |
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fmatvec::Mat | JRel [2] |
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fmatvec::Vec | jRel |
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fmatvec::Mat | TRel |
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fmatvec::VecV | qTRel |
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fmatvec::VecV | qRRel |
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fmatvec::VecV | uTRel |
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fmatvec::VecV | uRRel |
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fmatvec::Mat3xV | WJTrel |
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fmatvec::Mat3xV | WJRrel |
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fmatvec::Mat3xV | PJTT |
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fmatvec::Mat3xV | PJRR |
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Constraint * | constraint |
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Frame * | frameForJacobianOfRotation |
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std::vector< FixedRelativeFrame * > | RBF |
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std::vector< CompoundContour * > | RBC |
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Frame * | frameForInertiaTensor |
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fmatvec::Range< fmatvec::Var,
fmatvec::Var > | iqT |
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fmatvec::Range< fmatvec::Var,
fmatvec::Var > | iqR |
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fmatvec::Range< fmatvec::Var,
fmatvec::Var > | iuT |
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fmatvec::Range< fmatvec::Var,
fmatvec::Var > | iuR |
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bool | translationDependentRotation |
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bool | constJT |
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bool | constJR |
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bool | constjT |
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bool | constjR |
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fmatvec::Vec3 | WF |
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fmatvec::Vec3 | WM |
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Protected Attributes inherited from MBSim::Body |
std::vector< Frame * > | frame |
| vector of frames and contours
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std::vector< Contour * > | contour |
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Frame * | R |
| frame of reference of the object
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fmatvec::Mat3xV | PJT [2] |
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fmatvec::Mat3xV | PJR [2] |
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int | nu [2] |
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int | nq |
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int | qSize |
| size of object positions
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int | uSize [2] |
| size of object velocities
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int | hSize [2] |
| size of object h-vector (columns of J)
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int | qInd |
| indices of positions, velocities, right hand side
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int | uInd [2] |
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int | hInd [2] |
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int | xSize |
| size and local index of order one parameters
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int | xInd |
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fmatvec::Vec | q |
| positions, velocities
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fmatvec::Vec | u |
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fmatvec::Vec | uall |
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fmatvec::Vec | x |
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fmatvec::Vec | q0 |
| initial position, velocity
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fmatvec::Vec | u0 |
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fmatvec::Vec | x0 |
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fmatvec::Vec | qd |
| differentiated positions, velocities
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fmatvec::Vec | ud [2] |
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fmatvec::Vec | udall [2] |
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fmatvec::Vec | xd |
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fmatvec::Vec | h [2] |
| complete and object smooth and nonsmooth right hand side
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fmatvec::Vec | r [2] |
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fmatvec::Mat | W [2] |
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fmatvec::Mat | V [2] |
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fmatvec::Mat | dhdq |
| Jacobians of h.
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fmatvec::SqrMat | dhdu |
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fmatvec::Vec | dhdt |
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fmatvec::Mat | T |
| linear relation matrix of differentiated position and velocity parameters
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fmatvec::SymMat | M [2] |
| mass matrix
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fmatvec::SymMat | LLM [2] |
| LU-decomposition of mass matrix.
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Element * | parent |
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std::string | name |
| name of element
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std::string | path |
| The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.
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std::vector
< MBXMLUtils::EmbedDOMLocator > | locationStack |
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DynamicSystemSolver * | ds |
| dynamic system
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H5::VectorSerie< double > * | plotVectorSerie |
| time series
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std::vector< double > | plotVector |
| one entry of time series
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std::vector< std::string > | plotColumns |
| columns of time series
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H5::GroupBase * | plotGroup |
| associated plot group
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std::vector< Element * > | dependency |
| vector containing all dependencies.
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