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MBSim::SpringDamper Class Reference

A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames. More...

#include <spring_damper.h>

Inheritance diagram for MBSim::SpringDamper:
MBSim::LinkMechanics MBSim::Link MBSim::Element fmatvec::Atom

Public Member Functions

 SpringDamper (const std::string &name="")
 
void updateh (double, int i=0)
 
void updateg (double)
 
void updategd (double)
 
void connect (Frame *frame1, Frame *frame2)
 Connect the SpringDamper to frame1 and frame2.
 
bool isActive () const
 
bool gActiveChanged ()
 
bool isSingleValued () const
 asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...
 
std::string getType () const
 
void init (InitStage stage)
 plots time series header More...
 
void setForceFunction (Function< double(double, double)> *func_)
 Set function for the force calculation. The first input parameter to that function is the distance g between frame2 and frame1. The second input parameter to that function is the relative velocity gd between frame2 and frame1. The return value of that function is used as the force of the SpringDamper.
 
void plot (double t, double dt=1)
 plots time dependent data More...
 
void initializeUsingXML (xercesc::DOMElement *element)
 
- Public Member Functions inherited from MBSim::LinkMechanics
 LinkMechanics (const std::string &name)
 constructor More...
 
virtual ~LinkMechanics ()
 destructor
 
virtual void updatedhdz (double t)
 
virtual void closePlot ()
 closes plot file
 
virtual void updateWRef (const fmatvec::Mat &ref, int i=0)
 references to contact force direction matrix of dynamic system parent
 
virtual void updateVRef (const fmatvec::Mat &ref, int i=0)
 references to condensed contact force direction matrix of dynamic system parent
 
virtual void updatehRef (const fmatvec::Vec &hRef, int i=0)
 references to complete and link smooth force vector of dynamic system parent
 
virtual void updatedhdqRef (const fmatvec::Mat &ref, int i=0)
 
virtual void updatedhduRef (const fmatvec::SqrMat &ref, int i=0)
 
virtual void updatedhdtRef (const fmatvec::Vec &ref, int i=0)
 
virtual void updaterRef (const fmatvec::Vec &ref, int i=0)
 references to nonsmooth force vector of dynamic system parent
 
const std::vector< Contour * > & getContour () const
 
virtual void connect (Frame *frame_)
 
virtual void connect (Contour *contour_)
 
const std::vector< Frame * > & getFrame () const
 
- 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)
 
virtual xercesc::DOMElement * writeXMLFile (xercesc::DOMNode *element)
 
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

double dist
 
fmatvec::Vec3 n
 
Function< double(double, double)> * func
 
- Protected Attributes inherited from MBSim::LinkMechanics
std::vector< fmatvec::Vec3 > WF
 force and moment direction for smooth right hand side
 
std::vector< fmatvec::Vec3 > WM
 
std::vector< fmatvec::Mat3xV > fF
 cartesian force and moment direction matrix for nonsmooth right hand side
 
std::vector< fmatvec::Mat3xV > fM
 
std::vector< Frame * > frame
 array in which all frames are listed, connecting bodies via a link
 
std::vector< Contour * > contour
 array in which all contours are listed, connecting bodies via link
 
- 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.
 

Private Attributes

std::string saved_ref1
 
std::string saved_ref2
 

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

Detailed Description

A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames.

Member Function Documentation

bool MBSim::SpringDamper::gActiveChanged ( )
inlinevirtual
Returns
has the relative distance vector changed?

Implements MBSim::Link.

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

Reimplemented from MBSim::LinkMechanics.

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

plots time series header

Parameters
invocingparent class

Reimplemented from MBSim::LinkMechanics.

bool MBSim::SpringDamper::isActive ( ) const
inlinevirtual
Returns
are link equations active?

Implements MBSim::Link.

bool MBSim::SpringDamper::isSingleValued ( ) const
inlinevirtual

asks the link if it contains single valued force laws that contribute to the right-hand side vector h

Returns
single valued force laws used within link?

Reimplemented from MBSim::Link.

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

plots time dependent data

Parameters
simulationtime
simulationtime step size for derivative calculation

Reimplemented from MBSim::LinkMechanics.


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

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