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MBSim::RigidBody Class Reference

rigid bodies with arbitrary kinematics More...

#include <rigid_body.h>

Inheritance diagram for MBSim::RigidBody:
MBSim::Body MBSim::Object MBSim::Element fmatvec::Atom

Public Member Functions

 RigidBody (const std::string &name="")
 constructor More...
 
virtual ~RigidBody ()
 destructor
 
void addDependency (Constraint *constraint_)
 
virtual void updatedq (double t, double dt)
 
virtual void updateqd (double t)
 
virtual void updateT (double t)
 
virtual void updateh (double t, int j=0)
 
virtual void updatehInverseKinetics (double t, int j=0)
 
virtual void updateStateDerivativeDependentVariables (double t)
 
virtual void updateM (double t, int i=0)
 
virtual void updateStateDependentVariables (double t)
 
virtual void updateJacobians (double t, int j=0)
 
void updateJacobians0 (double t)
 
void updateJacobians1 (double t)
 
virtual void calcqSize ()
 
virtual void calcuSize (int j=0)
 
virtual void updateqRef (const fmatvec::Vec &ref)
 references to positions of dynamic system parent More...
 
virtual void updateuRef (const fmatvec::Vec &ref)
 references to velocities of dynamic system parent More...
 
virtual void init (InitStage stage)
 initialize object at start of simulation with respect to contours and frames
 
virtual void initz ()
 
virtual void facLLM (int i=0)
 perform Cholesky decomposition of mass martix
 
virtual void setUpInverseKinetics ()
 TODO.
 
virtual std::string getType () const
 
virtual void plot (double t, double dt=1)
 plots time dependent data More...
 
virtual void updateKinematicsForSelectedFrame (double t)
 updates kinematics of kinematic Frame starting from reference Frame
 
virtual void updateJacobiansForSelectedFrame0 (double t)
 updates JACOBIAN for kinematics starting from reference Frame
 
virtual void updateKinematicsForRemainingFramesAndContours (double t)
 updates kinematics for remaining Frames starting with and from cog Frame
 
virtual void updateJacobiansForRemainingFramesAndContours (double t, int j=0)
 updates remaining JACOBIANS for kinematics starting with and from cog Frame
 
virtual void updateJacobiansForRemainingFramesAndContours1 (double t)
 
void setGeneralTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_)
 set Kinematic for genral translational motion More...
 
void setTimeDependentTranslation (Function< fmatvec::Vec3(double)> *fPrPK_)
 set Kinematic for only time dependent translational motion More...
 
void setStateDependentTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_)
 set Kinematic for only state dependent translational motion More...
 
void setTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_)
 
void setTranslation (Function< fmatvec::Vec3(double)> *fPrPK_)
 
void setTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_)
 
void setGeneralRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_)
 set Kinematic for general rotational motion More...
 
void setTimeDependentRotation (Function< fmatvec::RotMat3(double)> *fAPK_)
 set Kinematic for only time dependent rotational motion More...
 
void setStateDependentRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_)
 set Kinematic for only state dependent rotational motion More...
 
void setRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_)
 
void setRotation (Function< fmatvec::RotMat3(double)> *fAPK_)
 
void setRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_)
 
void setTranslationDependentRotation (bool dep)
 
void setCoordinateTransformationForRotation (bool ct)
 
Function< fmatvec::Vec3(fmatvec::VecV,
double)> * 
getTranslation ()
 get Kinematic for translational motion More...
 
Function< fmatvec::RotMat3(fmatvec::VecV,
double)> * 
getRotation ()
 get Kinematic for rotational motion More...
 
void setMass (double m_)
 
double getMass () const
 
FixedRelativeFramegetFrameForKinematics ()
 
FixedRelativeFramegetFrameC ()
 
void setInertiaTensor (const fmatvec::SymMat3 &RThetaR)
 
const fmatvec::SymMat3 & getInertiaTensor () const
 
fmatvec::SymMat3 & getInertiaTensor ()
 
void addFrame (FixedRelativeFrame *frame)
 
void setFrameForKinematics (Frame *frame)
 
void setFrameForInertiaTensor (Frame *frame)
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual xercesc::DOMElement * writeXMLFile (xercesc::DOMNode *element)
 
virtual void updatePositionAndOrientationOfFrame (double t, Frame *P)
 
virtual void updateAccelerations (double t, Frame *P)
 
virtual void updateRelativeJacobians (double t, Frame *P)
 
virtual void updateRelativeJacobians (double t, Frame *P, fmatvec::Mat3xV &WJTrel, fmatvec::Mat3xV &WJRrel)
 
const fmatvec::Mat3xV & getWJTrel () const
 
const fmatvec::Mat3xV & getWJRrel () const
 
fmatvec::Mat3xV & getWJTrel ()
 
fmatvec::Mat3xV & getWJRrel ()
 
fmatvec::MatgetJRel (int i=0)
 
fmatvec::VecgetjRel ()
 
fmatvec::VecgetqRel ()
 
fmatvec::VecgetuRel ()
 
fmatvec::MatgetTRel ()
 
fmatvec::Mat3xV & getPJT (int i=0)
 
fmatvec::Mat3xV & getPJR (int i=0)
 
int getqRelSize () const
 
int getuRelSize (int i=0) const
 
bool transformCoordinates () const
 
- Public Member Functions inherited from MBSim::Body
 Body (const std::string &name)
 constructor More...
 
virtual ~Body ()
 destructor
 
void setInitialGeneralizedPosition (const fmatvec::Vec &q0_)
 
void setInitialGeneralizedVelocity (const fmatvec::Vec &u0_)
 
void setInitialGeneralizedPosition (double q0_)
 
void setInitialGeneralizedVelocity (double u0_)
 
void sethSize (int hSize_, int i=0)
 
void sethInd (int hInd_, int i=0)
 
virtual void closePlot ()
 closes plot file
 
virtual void setDynamicSystemSolver (DynamicSystemSolver *sys)
 sets the used dynamics system solver to the element More...
 
virtual ContourgetContour (const std::string &name, bool check=true) const
 
virtual FramegetFrame (const std::string &name, bool check=true) const
 
virtual FramegetFrameOfReference ()
 
virtual const FramegetFrameOfReference () const
 
virtual void setFrameOfReference (Frame *frame)
 
const std::vector< Frame * > & getFrames () const
 
const std::vector< Contour * > & getContours () const
 
int frameIndex (const Frame *frame_) const
 
int contourIndex (const Contour *contour_) const
 
virtual ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 Get the Element named name in the container named container.
 
fmatvec::Mat3xV & getPJT (int i=0)
 
fmatvec::Mat3xV & getPJR (int i=0)
 
int getuRelSize (int i=0) const
 
- Public Member Functions inherited from MBSim::Object
 Object (const std::string &name)
 constructor
 
virtual ~Object ()
 destructor
 
virtual void updatedhdz (double t)
 
virtual void updatedu (double t, double dt)
 
virtual void updateud (double t, int i=0)
 
virtual void updatezd (double t)
 
virtual int gethSize (int i=0) const
 
virtual int getqSize () const
 
virtual int getuSize (int i=0) const
 
virtual int getuInd (int i=0)
 
virtual void setqInd (int qInd_)
 
virtual void setuInd (int uInd_, int i=0)
 
virtual const fmatvec::Vecgetq () const
 
virtual const fmatvec::Vecgetu () const
 
virtual H5::GroupBasegetPlotGroup ()
 
virtual PlotFeatureStatus getPlotFeature (PlotFeature fp)
 
virtual PlotFeatureStatus getPlotFeatureForChildren (PlotFeature fp)
 
virtual void updatedx (double t, double dt)
 
virtual void updatexd (double t)
 
virtual void calcxSize ()
 
virtual const fmatvec::Vecgetx () const
 
virtual fmatvec::Vecgetx ()
 
virtual void setxInd (int xInd_)
 
virtual int getxSize () const
 
virtual void updatexRef (const fmatvec::Vec &ref)
 
virtual void updatexdRef (const fmatvec::Vec &ref)
 
virtual void updateqdRef (const fmatvec::Vec &qdRef)
 references to differentiated positions of dynamic system parent More...
 
virtual void updateuallRef (const fmatvec::Vec &uallRef)
 references to velocities of dynamic system parent More...
 
virtual void updateudRef (const fmatvec::Vec &udRef, int i=0)
 references to differentiated velocities of dynamic system parent More...
 
virtual void updateudallRef (const fmatvec::Vec &udallRef, int i=0)
 references to differentiated velocities of dynamic system parent More...
 
virtual void updatehRef (const fmatvec::Vec &hRef, int i=0)
 references to smooth force vector of dynamic system parent More...
 
virtual void updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0)
 references to object Jacobian for implicit integration of dynamic system parent regarding positions More...
 
virtual void updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0)
 references to object Jacobian for implicit integration of dynamic system parent regarding velocities More...
 
virtual void updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0)
 references to object Jacobian for implicit integration of dynamic system parent regarding time More...
 
virtual void updaterRef (const fmatvec::Vec &ref, int i=0)
 references to nonsmooth force vector of dynamic system parent More...
 
virtual void updateTRef (const fmatvec::Mat &ref)
 references to linear transformation matrix between differentiated positions and velocities of dynamic system parent More...
 
virtual void updateMRef (const fmatvec::SymMat &ref, int i=0)
 references to mass matrix of dynamic system parent More...
 
virtual void updateLLMRef (const fmatvec::SymMat &ref, int i=0)
 references to Cholesky decomposition of dynamic system parent More...
 
virtual void writez (H5::GroupBase *group)
 writes its z-Vector to a subgroup of the given group
 
virtual void readz0 (H5::GroupBase *group)
 reads the z-Vector of a subgroup of the given group
 
virtual void calcSize (int j)
 calculates size of right hand side More...
 
virtual double computeKineticEnergy ()
 
virtual double computePotentialEnergy ()
 
void setqSize (int qSize_)
 
void setuSize (int uSize_, int i=0)
 
int getzSize () const
 
int gethInd (int i=0)
 
const fmatvec::Vecgeth (int i=0) const
 
fmatvec::Vecgeth (int i=0)
 
const fmatvec::Vecgetr (int i=0) const
 
fmatvec::Vecgetr (int i=0)
 
const fmatvec::SymMatgetM (int i=0) const
 
fmatvec::SymMatgetM (int i=0)
 
const fmatvec::MatgetT () const
 
fmatvec::MatgetT ()
 
const fmatvec::SymMatgetLLM (int i=0) const
 
fmatvec::SymMatgetLLM (int i=0)
 
fmatvec::Vecgetq ()
 
fmatvec::Vecgetu ()
 
const fmatvec::Vecgetq0 () const
 
const fmatvec::Vecgetu0 () const
 
fmatvec::Vecgetq0 ()
 
fmatvec::Vecgetu0 ()
 
const fmatvec::Vecgetqd () const
 
const fmatvec::Vecgetud (int i=0) const
 
fmatvec::Vecgetqd ()
 
fmatvec::Vecgetud (int i=0)
 
void setq (const fmatvec::Vec &q_)
 
void setu (const fmatvec::Vec &u_)
 
- Public Member Functions inherited from MBSim::Element
 Element (const std::string &name)
 constructor
 
virtual ~Element ()
 destructor
 
virtual void initDataInterfaceBase (DynamicSystemSolver *parentds)
 TODO.
 
virtual void plotAtSpecialEvent (double t, double dt=1)
 plots time dependent data at special events More...
 
const std::string & getName () const
 
void setName (const std::string &str)
 
void setPath (const std::string &str)
 
DynamicSystemSolvergetDynamicSystemSolver ()
 
virtual void createPlotGroup ()
 creates the plotGroup for H5-output
 
H5::GroupBasegetPlotGroup ()
 
virtual void setPlotFeature (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature. More...
 
void setPlotFeatureForChildren (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature for the children of this object. More...
 
void setPlotFeatureRecursive (PlotFeature pf, PlotFeatureStatus value)
 Set a plot feature for this object and the children of this object. More...
 
PlotFeatureStatus getPlotFeature (PlotFeature pf)
 
PlotFeatureStatus getPlotFeatureForChildren (PlotFeature pf)
 
const std::vector
< MBXMLUtils::EmbedDOMLocator > & 
getLocationStack () const
 
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!
 
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!
 
virtual ElementgetParent ()
 
virtual const ElementgetParent () const
 
virtual void setParent (Element *parent_)
 
std::vector< Element * > getElementsDependingOn () const
 checks dependency on other elements. More...
 
void addDependency (Element *ele)
 
int computeLevel ()
 computes the length of the pathes in the graph that represents the dependencies between all elements. More...
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, boost::shared_ptr< bool > &a, boost::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Protected Member Functions

void updateMConst (double t, int i=0)
 update constant mass matrix
 
void updateMNotConst (double t, int i=0)
 update time dependend mass matrix
 
void facLLMConst (int i=0)
 Cholesky decomposition of constant mass matrix.
 
void facLLMNotConst (int i=0)
 Cholesky decomposition of time dependent mass matrix.
 
- Protected Member Functions inherited from MBSim::Body
virtual void addFrame (Frame *frame)
 
virtual void addContour (Contour *contour)
 
- Protected Member Functions inherited from MBSim::Element
void updatePlotFeatures ()
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Protected Attributes

double m
 mass
 
fmatvec::SymMat3 SThetaS
 inertia tensor with respect to centre of gravity in centre of gravity and world Frame
 
fmatvec::SymMat3 WThetaS
 
FixedRelativeFrameK
 
fmatvec::SymMat Mbuf
 TODO.
 
bool coordinateTransformation
 boolean to use body fixed Frame for rotation
 
fmatvec::Vec3 PjhT
 
fmatvec::Vec3 PjhR
 
fmatvec::Vec3 PjbT
 
fmatvec::Vec3 PjbR
 
fmatvec::SqrMat3 APK
 rotation matrix from kinematic Frame to parent Frame
 
fmatvec::Vec3 PrPK
 translation from parent to kinematic Frame in parent and world system
 
fmatvec::Vec3 WrPK
 
fmatvec::Vec3 WvPKrel
 translational and angular velocity from parent to kinematic Frame in world system
 
fmatvec::Vec3 WomPK
 
Function< fmatvec::MatV(fmatvec::VecV)> * fTR
 
Function< fmatvec::Vec3(fmatvec::VecV,
double)> * 
fPrPK
 translation from parent Frame to kinematic Frame in parent system
 
Function< fmatvec::RotMat3(fmatvec::VecV,
double)> * 
fAPK
 rotation from kinematic Frame to parent Frame
 
void(RigidBody::* updateM_ )(double t, int i)
 function pointer to update mass matrix
 
void(RigidBody::* facLLM_ )(int i)
 function pointer for Cholesky decomposition of mass matrix
 
void(RigidBody::* updateJacobians_ [2])(double t)
 
FixedRelativeFrameC
 
fmatvec::Vec aT
 
fmatvec::Vec aR
 
fmatvec::Vec qRel
 
fmatvec::Vec uRel
 
fmatvec::Mat JRel [2]
 
fmatvec::Vec jRel
 
fmatvec::Mat TRel
 
fmatvec::VecV qTRel
 
fmatvec::VecV qRRel
 
fmatvec::VecV uTRel
 
fmatvec::VecV uRRel
 
fmatvec::Mat3xV WJTrel
 
fmatvec::Mat3xV WJRrel
 
fmatvec::Mat3xV PJTT
 
fmatvec::Mat3xV PJRR
 
Constraintconstraint
 
FrameframeForJacobianOfRotation
 
std::vector< FixedRelativeFrame * > RBF
 
std::vector< CompoundContour * > RBC
 
FrameframeForInertiaTensor
 
fmatvec::Range< fmatvec::Var,
fmatvec::Var
iqT
 
fmatvec::Range< fmatvec::Var,
fmatvec::Var
iqR
 
fmatvec::Range< fmatvec::Var,
fmatvec::Var
iuT
 
fmatvec::Range< fmatvec::Var,
fmatvec::Var
iuR
 
bool translationDependentRotation
 
bool constJT
 
bool constJR
 
bool constjT
 
bool constjR
 
fmatvec::Vec3 WF
 
fmatvec::Vec3 WM
 
- Protected Attributes inherited from MBSim::Body
std::vector< Frame * > frame
 vector of frames and contours
 
std::vector< Contour * > contour
 
FrameR
 frame of reference of the object
 
fmatvec::Mat3xV PJT [2]
 
fmatvec::Mat3xV PJR [2]
 
int nu [2]
 
int nq
 
- Protected Attributes inherited from MBSim::Object
int qSize
 size of object positions
 
int uSize [2]
 size of object velocities
 
int hSize [2]
 size of object h-vector (columns of J)
 
int qInd
 indices of positions, velocities, right hand side
 
int uInd [2]
 
int hInd [2]
 
int xSize
 size and local index of order one parameters
 
int xInd
 
fmatvec::Vec q
 positions, velocities
 
fmatvec::Vec u
 
fmatvec::Vec uall
 
fmatvec::Vec x
 
fmatvec::Vec q0
 initial position, velocity
 
fmatvec::Vec u0
 
fmatvec::Vec x0
 
fmatvec::Vec qd
 differentiated positions, velocities
 
fmatvec::Vec ud [2]
 
fmatvec::Vec udall [2]
 
fmatvec::Vec xd
 
fmatvec::Vec h [2]
 complete and object smooth and nonsmooth right hand side
 
fmatvec::Vec r [2]
 
fmatvec::Mat W [2]
 
fmatvec::Mat V [2]
 
fmatvec::Mat dhdq
 Jacobians of h.
 
fmatvec::SqrMat dhdu
 
fmatvec::Vec dhdt
 
fmatvec::Mat T
 linear relation matrix of differentiated position and velocity parameters
 
fmatvec::SymMat M [2]
 mass matrix
 
fmatvec::SymMat LLM [2]
 LU-decomposition of mass matrix.
 
- Protected Attributes inherited from MBSim::Element
Elementparent
 
std::string name
 name of element
 
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.
 
std::vector
< MBXMLUtils::EmbedDOMLocator > 
locationStack
 
DynamicSystemSolverds
 dynamic system
 
H5::VectorSerie< double > * plotVectorSerie
 time series
 
std::vector< double > plotVector
 one entry of time series
 
std::vector< std::string > plotColumns
 columns of time series
 
H5::GroupBaseplotGroup
 associated plot group
 
std::vector< Element * > dependency
 vector containing all dependencies.
 

Additional Inherited Members

- Public Types inherited from MBSim::Element
enum  PlotFeatureStatus { enabled, disabled, unset }
 Plot feature status. More...
 
enum  PlotFeature {
  plotRecursive =0, separateFilePerGroup, state, stateDerivative,
  notMinimalState, rightHandSide, globalPosition, globalVelocity,
  globalAcceleration, energy, openMBV, generalizedLinkForce,
  linkKinematics, stopVector, debug, LASTPLOTFEATURE
}
 Plot Features. More...
 
enum  InitStage {
  modelBuildup =0, resolveXMLPath, preInit, resize,
  relativeFrameContourLocation, worldFrameContourLocation, plotting, reorganizeHierarchy,
  unknownStage, calculateLocalInitialValues, LASTINITSTAGE
}
 The stages of the initialization. More...
 
- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from MBSim::Element
static double getDouble (xercesc::DOMElement *e)
 
static int getInt (xercesc::DOMElement *e)
 
static bool getBool (xercesc::DOMElement *e)
 
static fmatvec::Vec3 getVec3 (xercesc::DOMElement *e)
 
static fmatvec::Vec getVec (xercesc::DOMElement *e, int rows=0)
 
static fmatvec::Mat3xV getMat3xV (xercesc::DOMElement *e, int cols=0)
 
static fmatvec::Mat getMat (xercesc::DOMElement *e, int rows=0, int cols=0)
 
static fmatvec::SqrMat3 getSqrMat3 (xercesc::DOMElement *e)
 
static fmatvec::SqrMat getSqrMat (xercesc::DOMElement *e, int size=0)
 
static fmatvec::SymMat3 getSymMat3 (xercesc::DOMElement *e)
 
static fmatvec::SymMat getSymMat (xercesc::DOMElement *e, int size=0)
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const boost::shared_ptr< bool > &a=boost::make_shared< bool >(true), const boost::shared_ptr< std::ostream > &s=boost::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 

Detailed Description

rigid bodies with arbitrary kinematics

Author
Martin Foerg
Date
2009-04-08 some comments (Thorsten Schindler)
2009-07-16 splitted link / object right hand side (Thorsten Schindler)
2009-12-14 revised inverse kinetics (Martin Foerg)
2010-04-24 class can handle constraints on generalized coordinates (Martin Foerg)
2010-06-20 add getter for Kinematics; revision on doxygen comments (Roland Zander)
Todo:

kinetic energy TODO

Euler parameter TODO

check if inertial system for performance TODO

rigid bodies have a predefined canonic Frame 'C' in their centre of gravity

Constructor & Destructor Documentation

MBSim::RigidBody::RigidBody ( const std::string &  name = "")

constructor

Parameters
namename of rigid body

Member Function Documentation

Function<fmatvec::RotMat3(fmatvec::VecV, double)>* MBSim::RigidBody::getRotation ( )
inline

get Kinematic for rotational motion

Returns
rotational kinematic description
Function<fmatvec::Vec3(fmatvec::VecV, double)>* MBSim::RigidBody::getTranslation ( )
inline

get Kinematic for translational motion

Returns
translational kinematic description
virtual std::string MBSim::RigidBody::getType ( ) const
inlinevirtual
Returns
std::string representation

Reimplemented from MBSim::Body.

void MBSim::RigidBody::initz ( )
virtual

initialize state of object at start of simulation

Reimplemented from MBSim::Object.

void MBSim::RigidBody::plot ( double  t,
double  dt = 1 
)
virtual

plots time dependent data

Parameters
simulationtime
simulationtime step size for derivative calculation

Reimplemented from MBSim::Body.

void MBSim::RigidBody::setFrameForKinematics ( Frame frame)
Parameters
frameFrame to be used for kinematical description depending on reference Frame and generalised positions / velocities
void MBSim::RigidBody::setGeneralRotation ( Function< fmatvec::RotMat3(fmatvec::VecV, double)> *  fAPK_)
inline

set Kinematic for general rotational motion

Parameters
fAPKrotational kinematic description
void MBSim::RigidBody::setGeneralTranslation ( Function< fmatvec::Vec3(fmatvec::VecV, double)> *  fPrPK_)
inline

set Kinematic for genral translational motion

Parameters
fPrPKtranslational kinematic description
void MBSim::RigidBody::setInertiaTensor ( const fmatvec::SymMat3 &  RThetaR)
inline
Parameters
RThetaRinertia tensor
frameoptional reference Frame of inertia tensor, otherwise cog-Frame will be used as reference
void MBSim::RigidBody::setStateDependentRotation ( Function< fmatvec::RotMat3(fmatvec::VecV)> *  fAPK_)
inline

set Kinematic for only state dependent rotational motion

Parameters
fAPKrotational kinematic description
void MBSim::RigidBody::setStateDependentTranslation ( Function< fmatvec::Vec3(fmatvec::VecV)> *  fPrPK_)
inline

set Kinematic for only state dependent translational motion

Parameters
fPrPKtranslational kinematic description
void MBSim::RigidBody::setTimeDependentRotation ( Function< fmatvec::RotMat3(double)> *  fAPK_)
inline

set Kinematic for only time dependent rotational motion

Parameters
fAPKrotational kinematic description
void MBSim::RigidBody::setTimeDependentTranslation ( Function< fmatvec::Vec3(double)> *  fPrPK_)
inline

set Kinematic for only time dependent translational motion

Parameters
fPrPKtranslational kinematic description
void MBSim::RigidBody::updateqRef ( const fmatvec::Vec qRef)
virtual

references to positions of dynamic system parent

Parameters
qRefvector to be referenced

Reimplemented from MBSim::Object.

void MBSim::RigidBody::updateuRef ( const fmatvec::Vec uRef)
virtual

references to velocities of dynamic system parent

Parameters
uRefvector to be referenced

Reimplemented from MBSim::Object.

Member Data Documentation

FixedRelativeFrame* MBSim::RigidBody::C
protected

a pointer to Frame "C"


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

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