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| DynamicSystem (const std::string &name) |
| constructor
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virtual | ~DynamicSystem () |
| destructor
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virtual void | updateT (double t) |
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virtual void | updateh (double t, int i=0) |
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virtual void | updateStateDependentVariables (double t)=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 | updateJacobians (double t, int j=0)=0 |
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virtual void | updatedq (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)=0 |
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virtual void | updatedu (double t, double dt)=0 |
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virtual void | updateqd (double t) |
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virtual void | sethSize (int hSize_, int i=0) |
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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 void | calcqSize () |
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virtual void | calcuSize (int j=0) |
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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 void | sethInd (int hInd_, int i=0) |
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virtual void | setxInd (int xInd_) |
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virtual const fmatvec::Vec & | getq () const |
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virtual fmatvec::Vec & | getq () |
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virtual const fmatvec::Vec & | getu () const |
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virtual fmatvec::Vec & | getu () |
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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 | updatewb (double t, int j=0) |
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virtual void | updateW (double t, int j=0) |
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virtual void | updateV (double t, int j=0) |
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virtual void | updateg (double t) |
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virtual void | updategd (double t) |
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virtual void | updateStopVector (double t) |
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virtual void | updateLinkStatus (double t) |
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virtual void | updateLinkStatusReg (double t) |
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virtual void | updategInverseKinetics (double t) |
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virtual void | updategdInverseKinetics (double t) |
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virtual void | updateWInverseKinetics (double t, int j=0) |
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virtual void | updatehInverseKinetics (double t, int j=0) |
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virtual void | updateJacobiansInverseKinetics (double t, int j=0) |
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virtual void | updatebInverseKinetics (double t) |
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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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const fmatvec::Vec & | getx () const |
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fmatvec::Vec & | getx () |
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int | getxSize () const |
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void | updatexRef (const fmatvec::Vec &ref) |
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void | updatexdRef (const fmatvec::Vec &ref) |
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virtual void | init (InitStage stage) |
| plots time series header More...
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virtual void | initz () |
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virtual void | writez (H5::GroupBase *group) |
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virtual void | readz0 (H5::GroupBase *parent) |
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virtual std::string | getType () const |
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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
| sets the used dynamics system solver to the element More...
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virtual void | plot (double t, double dt) |
| plots time dependent data More...
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virtual void | plotAtSpecialEvent (double t, double dt=1.) |
| plots time dependent data at special events More...
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virtual void | closePlot () |
| closes plot file
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virtual void | facLLM (int i=0)=0 |
| compute Cholesky decomposition of mass matrix TODO necessary?
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virtual int | solveConstraintsFixpointSingle () |
| solve contact equations with single step fixed point scheme More...
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virtual int | solveImpactsFixpointSingle (double dt) |
| solve impact equations with single step fixed point scheme on velocity level More...
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virtual int | solveConstraintsGaussSeidel () |
| solve contact equations with Gauss-Seidel scheme More...
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virtual int | solveImpactsGaussSeidel (double dt) |
| solve impact equations with Gauss-Seidel scheme on velocity level More...
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virtual int | solveConstraintsRootFinding () |
| solve contact equations with Newton scheme More...
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virtual int | solveImpactsRootFinding (double dt) |
| solve impact equations with Newton scheme on velocity level More...
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virtual int | jacobianConstraints () |
| compute JACOBIAN of contact equations
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virtual int | jacobianImpacts () |
| compute JACOBIAN of contact equations on velocity level
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virtual void | checkConstraintsForTermination () |
| validate force laws concerning given tolerances
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virtual void | checkImpactsForTermination (double dt) |
| validate force laws concerning given tolerances on velocity level
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virtual void | updaterFactors () |
| update relaxation factors for contact equations
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virtual Frame * | getFrame (const std::string &name, bool check=true) const |
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virtual Contour * | getContour (const std::string &name, bool check=true) const |
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void | setPosition (const fmatvec::Vec3 &PrPF_) |
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void | setOrientation (const fmatvec::SqrMat3 &APF_) |
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void | setFrameOfReference (Frame *frame) |
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const fmatvec::Vec3 & | getPosition () const |
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const fmatvec::SqrMat3 & | getOrientation () const |
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const Frame * | getFrameOfReference () const |
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const fmatvec::Vec & | getxd () const |
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fmatvec::Vec & | getxd () |
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const fmatvec::Vec & | getx0 () const |
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fmatvec::Vec & | getx0 () |
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const fmatvec::Mat & | getT () const |
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const fmatvec::SymMat & | getM (int i=0) const |
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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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const fmatvec::Vec & | geth (int j=0) const |
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fmatvec::Vec & | geth (int j=0) |
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const fmatvec::Vec & | getf () const |
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fmatvec::Vec & | getf () |
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const fmatvec::Mat & | getW (int i=0) const |
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fmatvec::Mat & | getW (int i=0) |
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const fmatvec::Mat & | getV (int i=0) const |
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fmatvec::Mat & | getV (int i=0) |
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const fmatvec::Vec & | getla () const |
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fmatvec::Vec & | getla () |
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const fmatvec::Vec & | getg () const |
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fmatvec::Vec & | getg () |
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const fmatvec::Vec & | getgd () const |
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fmatvec::Vec & | getgd () |
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const fmatvec::Vec & | getrFactor () const |
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fmatvec::Vec & | getrFactor () |
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fmatvec::Vec & | getsv () |
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const fmatvec::Vec & | getsv () const |
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fmatvec::VecInt & | getjsv () |
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const fmatvec::VecInt & | getjsv () const |
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fmatvec::VecInt & | getLinkStatus () |
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fmatvec::VecInt & | getLinkStatusReg () |
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const fmatvec::VecInt & | getLinkStatus () const |
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const fmatvec::VecInt & | getLinkStatusReg () const |
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const fmatvec::Vec & | getres () const |
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fmatvec::Vec & | getres () |
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const fmatvec::Vec & | getcorr () const |
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fmatvec::Vec & | getcorr () |
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void | setx (const fmatvec::Vec &x_) |
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void | setx0 (const fmatvec::Vec &x0_) |
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void | setx0 (double x0_) |
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int | getxInd () |
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int | getlaInd () const |
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int | gethInd (int i=0) |
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void | setlaInd (int ind) |
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void | setgInd (int ind) |
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void | setgdInd (int ind) |
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void | setrFactorInd (int ind) |
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virtual void | setsvInd (int svInd_) |
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void | setLinkStatusInd (int LinkStatusInd_) |
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void | setLinkStatusRegInd (int LinkStatusRegInd_) |
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int | getzSize () const |
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void | setqSize (int qSize_) |
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void | setuSize (int uSize_, int i=0) |
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void | setxSize (int xSize_) |
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int | getlaSize () const |
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int | getgSize () const |
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int | getgdSize () const |
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int | getrFactorSize () const |
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int | getsvSize () const |
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int | getLinkStatusSize () const |
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int | getLinkStatusRegSize () const |
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const std::vector< Object * > & | getObjects () const |
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const std::vector< Link * > & | getLinks () const |
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const std::vector
< DynamicSystem * > & | getDynamicSystems () const |
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const std::vector< Frame * > & | getFrames () const |
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const std::vector< Contour * > & | getContours () const |
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void | updateqRef (const fmatvec::Vec &ref) |
| references to positions of dynamic system parent More...
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void | updateqdRef (const fmatvec::Vec &ref) |
| references to differentiated positions of dynamic system parent More...
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void | updateuRef (const fmatvec::Vec &ref) |
| references to velocities of dynamic system parent More...
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void | updateuallRef (const fmatvec::Vec &ref) |
| references to velocities of dynamic system parent More...
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void | updateudRef (const fmatvec::Vec &ref, int i=0) |
| references to differentiated velocities of dynamic system parent More...
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void | updateudallRef (const fmatvec::Vec &ref, int i=0) |
| references to velocities of dynamic system parent More...
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void | updatehRef (const fmatvec::Vec &hRef, int i=0) |
| references to smooth right hand side of dynamic system parent More...
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void | updaterRef (const fmatvec::Vec &ref, int j=0) |
| references to nonsmooth right hand side of dynamic system parent More...
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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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void | updateMRef (const fmatvec::SymMat &ref, int i=0) |
| references to mass matrix of dynamic system parent More...
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void | updateLLMRef (const fmatvec::SymMat &ref, int i=0) |
| references to Cholesky decomposition of dynamic system parent More...
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void | updategRef (const fmatvec::Vec &ref) |
| references to relative distances of dynamic system parent More...
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void | updategdRef (const fmatvec::Vec &ref) |
| references to relative velocities of dynamic system parent More...
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void | updatelaRef (const fmatvec::Vec &ref) |
| references to contact force parameters of dynamic system parent More...
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void | updatelaInverseKineticsRef (const fmatvec::Vec &ref) |
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void | updatebInverseKineticsRef (const fmatvec::Mat &ref) |
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void | updatewbRef (const fmatvec::Vec &ref) |
| references to TODO of dynamic system parent More...
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void | updateWRef (const fmatvec::Mat &ref, int i=0) |
| references to contact force direction matrix of dynamic system parent More...
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void | updateWInverseKineticsRef (const fmatvec::Mat &ref, int i=0) |
| references to contact force direction matrix of dynamic system parent More...
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void | updateVRef (const fmatvec::Mat &ref, int i=0) |
| references to condensed contact force direction matrix of dynamic system parent More...
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void | updatesvRef (const fmatvec::Vec &ref) |
| references to stopvector (rootfunction for event driven integrator) of dynamic system parent More...
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void | updatejsvRef (const fmatvec::VecInt &ref) |
| references to boolean evaluation of stopvector concerning roots of dynamic system parent More...
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void | updateLinkStatusRef (const fmatvec::VecInt &LinkStatusParent) |
| references to status vector of set valued links with piecewise link equations (which piece is valid) More...
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void | updateLinkStatusRegRef (const fmatvec::VecInt &LinkStatusRegParent) |
| references to status vector of single valued links More...
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void | updateresRef (const fmatvec::Vec &ref) |
| references to residuum of contact equations of dynamic system parent More...
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void | updaterFactorRef (const fmatvec::Vec &ref) |
| references to relaxation factors for contact equations of dynamic system parent More...
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void | clearElementLists () |
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void | buildListOfDynamicSystems (std::vector< DynamicSystem * > &sys) |
| build flat list of dynamic systems More...
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void | buildListOfObjects (std::vector< Object * > &obj) |
| build flat list of objects More...
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void | buildListOfLinks (std::vector< Link * > &lnk) |
| build flat list of links More...
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void | buildListOfSetValuedLinks (std::vector< Link * > &lnk) |
| build flat list of all setvalued links More...
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void | buildListOfFrames (std::vector< Frame * > &frm) |
| build flat list of frames More...
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void | buildListOfContours (std::vector< Contour * > &cnt) |
| build flat list of contours More...
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void | buildListOfModels (std::vector< ModellingInterface * > &model) |
| build flat list of models More...
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void | buildListOfInverseKineticsLinks (std::vector< Link * > &lnk) |
| build flat list of inverse kinetics links More...
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void | buildListOfObservers (std::vector< Observer * > &obsrv) |
| build flat list of observers More...
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void | setUpInverseKinetics () |
| analyse constraints of dynamic systems for usage in inverse kinetics
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void | setUpLinks () |
| distribute links to set- and single valued container
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bool | gActiveChanged () |
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bool | gActiveChangedReg () |
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bool | detectImpact () |
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void | calcsvSize () |
| calculates size of stop vector
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void | calclaSize (int j) |
| calculates size of contact force parameters
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void | calcLinkStatusSize () |
| calculates size of set-valued link status vector
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void | calcLinkStatusRegSize () |
| calculates size of single-valued link status vector
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void | calclaInverseKineticsSize () |
| calculates size of contact force parameters
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void | calcbInverseKineticsSize () |
| calculates size of contact force parameters
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void | calcgSize (int j) |
| calculates size of relative distances
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void | calcgdSize (int j) |
| calculates size of gap velocities More...
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void | calcrFactorSize (int j) |
| calculates size of relaxation factors for contact equations
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void | setUpActiveLinks () |
| rearrange vector of active setvalued links
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void | checkActive (int i) |
| check if set-valued contacts are active and set corresponding attributes More...
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void | checkActiveReg (int i) |
| check if single-valued contacts are active
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virtual void | setgTol (double tol) |
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virtual void | setgdTol (double tol) |
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virtual void | setgddTol (double tol) |
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virtual void | setlaTol (double tol) |
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virtual void | setLaTol (double tol) |
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void | setrMax (double rMax) |
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void | addFrame (FixedRelativeFrame *frame) |
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int | frameIndex (const Frame *frame_) const |
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void | addGroup (DynamicSystem *dynamicsystem) |
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DynamicSystem * | getGroup (const std::string &name, bool check=true) const |
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void | addObject (Object *object) |
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Object * | getObject (const std::string &name, bool check=true) const |
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void | addLink (Link *link) |
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void | addInverseKineticsLink (Link *link) |
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Observer * | getObserver (const std::string &name, bool check=true) const |
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void | addObserver (Observer *element) |
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Link * | getLink (const std::string &name, bool check=true) const |
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void | addModel (ModellingInterface *modell) |
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ModellingInterface * | getModel (const std::string &name, bool check=true) const |
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FixedRelativeFrame * | getFrameI () |
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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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virtual void | updatecorr (int j) |
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void | updatecorrRef (const fmatvec::Vec &ref) |
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void | calccorrSize (int j) |
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void | checkRoot () |
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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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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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virtual void | initializeUsingXML (xercesc::DOMElement *element) |
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virtual xercesc::DOMElement * | writeXMLFile (xercesc::DOMNode *element) |
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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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Frame * | R |
| parent frame
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fmatvec::Vec3 | PrPF |
| relative translation with respect to parent frame
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fmatvec::SqrMat3 | APF |
| relative rotation with respect to parent frame
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std::vector< Object * > | object |
| container for possible ingredients
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std::vector< Link * > | link |
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std::vector< Link * > | linkSingleValued |
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std::vector< Link * > | linkSetValued |
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std::vector< Link * > | linkSetValuedActive |
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std::vector< ModellingInterface * > | model |
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std::vector< DynamicSystem * > | dynamicsystem |
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std::vector< Link * > | inverseKineticsLink |
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std::vector< Observer * > | observer |
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std::vector< std::vector< Link * > > | linkOrdered |
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fmatvec::Mat | T |
| linear relation matrix of position and velocity parameters
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fmatvec::SymMat | M [2] |
| mass matrix
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fmatvec::SymMat | LLM [2] |
| Cholesky decomposition of mass matrix.
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fmatvec::Vec | q |
| positions, differentiated positions, initial positions
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fmatvec::Vec | qd |
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fmatvec::Vec | q0 |
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fmatvec::Vec | u |
| velocities, differentiated velocities, initial velocities
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fmatvec::Vec | ud [2] |
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fmatvec::Vec | u0 |
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fmatvec::Vec | x |
| order one parameters, differentiated order one parameters, initial order one parameters
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fmatvec::Vec | xd |
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fmatvec::Vec | x0 |
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fmatvec::Vec | h [2] |
| smooth, smooth with respect to objects, smooth with respect to links, nonsmooth and order one right hand side
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fmatvec::Vec | r [2] |
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fmatvec::Vec | f |
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fmatvec::Mat | W [2] |
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fmatvec::Mat | V [2] |
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fmatvec::Vec | la |
| contact force parameters
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fmatvec::Vec | g |
| relative distances and velocities
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fmatvec::Vec | gd |
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fmatvec::Vec | wb |
| TODO.
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fmatvec::Vec | res |
| residuum of nonlinear contact equations for Newton scheme
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fmatvec::Vec | rFactor |
| rfactors for relaxation nonlinear contact equations
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fmatvec::Vec | sv |
| stop vector (root functions for event driven integration
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fmatvec::VecInt | jsv |
| boolean evaluation of stop vector concerning roots
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fmatvec::VecInt | LinkStatus |
| status of set-valued links
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fmatvec::VecInt | LinkStatusReg |
| status of single-valued links
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int | qSize |
| size and local start index of positions relative to parent
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int | qInd |
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int | uSize [2] |
| size and local start index of velocities relative to parent
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int | uInd [2] |
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int | xSize |
| size and local start index of order one parameters relative to parent
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int | xInd |
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int | hSize [2] |
| size and local start index of order smooth right hand side relative to parent
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int | hInd [2] |
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int | gSize |
| size and local start index of relative distances relative to parent
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int | gInd |
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int | gdSize |
| size and local start index of relative velocities relative to parent
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int | gdInd |
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int | laSize |
| size and local start index of contact force parameters relative to parent
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int | laInd |
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int | rFactorSize |
| size and local start index of rfactors relative to parent
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int | rFactorInd |
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int | svSize |
| size and local start index of stop vector relative to parent
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int | svInd |
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int | LinkStatusSize |
| size and local start index of set-valued link status vector relative to parent
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int | LinkStatusInd |
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int | LinkStatusRegSize |
| size and local start index of single-valued link status vector relative to parent
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int | LinkStatusRegInd |
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std::vector< Frame * > | frame |
| vector of frames and contours
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std::vector< Contour * > | contour |
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boost::shared_ptr< H5::File > | hdf5File |
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FixedRelativeFrame * | I |
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int | laInverseKineticsSize |
| size of contact force parameters of special links relative to parent
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int | bInverseKineticsSize |
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fmatvec::Mat | WInverseKinetics [2] |
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fmatvec::Mat | bInverseKinetics |
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fmatvec::Vec | laInverseKinetics |
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int | corrSize |
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int | corrInd |
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fmatvec::Vec | corr |
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std::string | saved_frameOfReference |
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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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