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MBSim::Frame Class Reference

cartesian frame on bodies used for application of e.g. links and loads More...

#include <frame.h>

Inheritance diagram for MBSim::Frame:
MBSim::Element fmatvec::Atom MBSim::FixedRelativeFrame

Public Types

enum  Feature {
  position, localPosition, firstTangent, normal,
  secondTangent, cosy, position_cosy, velocity,
  angularVelocity, velocity_cosy, velocities, velocities_cosy,
  angle, dotAngle, all
}
 different interest features for frames
 
- 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
 

Public Member Functions

 Frame (const std::string &name="dummy")
 constructor More...
 
virtual ~Frame ()
 destructor
 
std::string getType () const
 
virtual void plot (double t, double dt=1)
 plots time dependent data More...
 
virtual void closePlot ()
 closes plot file
 
virtual int gethSize (int i=0) const
 
virtual int gethInd (int i=0) const
 
virtual const fmatvec::Vec3 & getPosition () const
 
virtual const fmatvec::Vec3 & getLocalPosition () const
 
virtual const fmatvec::SqrMat3 & getOrientation () const
 
virtual fmatvec::Vec3 & getPosition ()
 
virtual fmatvec::SqrMat3 & getOrientation ()
 
virtual void setPosition (const fmatvec::Vec3 &v)
 
virtual void setLocalPosition (const fmatvec::Vec3 &v)
 
virtual void setOrientation (const fmatvec::SqrMat3 &AWP_)
 
virtual const fmatvec::Vec3 & getVelocity () const
 
virtual const fmatvec::Vec3 & getAngularVelocity () const
 
virtual const fmatvec::Mat3xV & getJacobianOfTranslation (int j=0) const
 
virtual const fmatvec::Mat3xV & getJacobianOfRotation (int j=0) const
 
virtual const fmatvec::Vec3 & getGyroscopicAccelerationOfTranslation (int j=0) const
 
virtual const fmatvec::Vec3 & getGyroscopicAccelerationOfRotation (int j=0) const
 
virtual const fmatvec::Vec3 & getAcceleration () const
 
virtual const fmatvec::Vec3 & getAngularAcceleration () const
 
virtual void init (InitStage stage)
 plots time series header More...
 
void sethSize (int size, int i=0)
 
void sethInd (int ind, int i=0)
 
fmatvec::Vec3 & getVelocity ()
 
fmatvec::Vec3 & getAngularVelocity ()
 
void setVelocity (const fmatvec::Vec3 &v)
 
void setAngularVelocity (const fmatvec::Vec3 &omega)
 
void setJacobianOfTranslation (const fmatvec::Mat3xV &WJP_, int j=0)
 
void setGyroscopicAccelerationOfTranslation (const fmatvec::Vec3 &WjP_, int j=0)
 
void setJacobianOfRotation (const fmatvec::Mat3xV &WJR_, int j=0)
 
void setGyroscopicAccelerationOfRotation (const fmatvec::Vec3 &WjR_, int j=0)
 
fmatvec::Mat3xV & getJacobianOfTranslation (int j=0)
 
fmatvec::Mat3xV & getJacobianOfRotation (int j=0)
 
fmatvec::Vec3 & getGyroscopicAccelerationOfTranslation (int j=0)
 
fmatvec::Vec3 & getGyroscopicAccelerationOfRotation (int j=0)
 
fmatvec::Vec3 & getAcceleration ()
 
fmatvec::Vec3 & getAngularAcceleration ()
 
void setAcceleration (const fmatvec::Vec3 &a)
 
void setAngularAcceleration (const fmatvec::Vec3 &psi)
 
void setAnglesOfOrientation (const fmatvec::Vec3 &angles_)
 
const fmatvec::Vec3 & getAnglesOfOrientation () const
 
void setDotAnglesOfOrientation (const fmatvec::Vec3 &dotAngles_)
 
const fmatvec::Vec3 & getDotAnglesOfOrientation () const
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual xercesc::DOMElement * writeXMLFile (xercesc::DOMNode *element)
 
- Public Member Functions inherited from MBSim::Element
 Element (const std::string &name)
 constructor
 
virtual ~Element ()
 destructor
 
virtual void initDataInterfaceBase (DynamicSystemSolver *parentds)
 TODO.
 
virtual void setDynamicSystemSolver (DynamicSystemSolver *sys)
 sets the used dynamics system solver to the element More...
 
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 ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 Get the Element named name in the container named container.
 
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 Attributes

int hSize [2]
 parent object for plot invocation More...
 
int hInd [2]
 
fmatvec::Vec3 WrOP
 position of coordinate system in inertial frame of reference
 
fmatvec::Vec3 LrOP
 position of coordinate system in object local frame of reference
 
fmatvec::SqrMat3 AWP
 transformation matrix in inertial frame of reference
 
fmatvec::Vec3 WvP
 velocity and angular velocity of coordinate system in inertial frame of reference
 
fmatvec::Vec3 WomegaP
 
fmatvec::Mat3xV WJP [2]
 Jacobians of translation and rotation from coordinate system to inertial frame.
 
fmatvec::Mat3xV WJR [2]
 
fmatvec::Vec3 WjP [2]
 
fmatvec::Vec3 WjR [2]
 
fmatvec::Vec3 WaP
 acceleration and angular acceleration of coordinate system in inertial frame of reference
 
fmatvec::Vec3 WpsiP
 
fmatvec::Vec3 angles
 orientation angles and the time derivative of angles of the contour point
 
fmatvec::Vec3 dotAngles
 
- 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

- 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)
 
- Protected Member Functions inherited from MBSim::Element
void updatePlotFeatures ()
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Detailed Description

cartesian frame on bodies used for application of e.g. links and loads

Author
Martin Foerg
Date
2009-03-19 some comments (Thorsten Schindler)
2009-04-08 stationary frame (Thorsten Schindler)
2009-07-06 deleted stationary frame (Thorsten Schindler)

Constructor & Destructor Documentation

MBSim::Frame::Frame ( const std::string &  name = "dummy")

constructor

Parameters
nameof coordinate system

Member Function Documentation

std::string MBSim::Frame::getType ( ) const
inlinevirtual
Returns
std::string representation

Reimplemented from MBSim::Element.

Reimplemented in MBSim::FixedRelativeFrame.

void MBSim::Frame::init ( InitStage  stage)
virtual

plots time series header

Parameters
invocingparent class

Reimplemented from MBSim::Element.

Reimplemented in MBSim::FixedRelativeFrame.

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

plots time dependent data

Parameters
simulationtime
simulationtime step size for derivative calculation

Reimplemented from MBSim::Element.

Member Data Documentation

int MBSim::Frame::hSize[2]
protected

parent object for plot invocation

size and index of right hand side

fmatvec::Vec3 MBSim::Frame::WjP[2]
protected

translational and rotational acceleration not linear in the generalised velocity derivatives


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

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