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| DynamicSystemSolver (const std::string &name="") |
| constructor More...
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virtual | ~DynamicSystemSolver () |
| destructor
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void | initialize () |
| Initialize the system. More...
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void | setTruncateSimulationFiles (bool trunc) |
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void | init (InitStage stage) |
| plots time series header More...
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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=0) |
| 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=0) |
| 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=0) |
| solve impact equations with Newton scheme on velocity level More...
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virtual void | checkConstraintsForTermination () |
| validate force laws concerning given tolerances
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virtual void | checkImpactsForTermination (double dt=0) |
| validate force laws concerning given tolerances on velocity level
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virtual void | updateh (double t, int i=0) |
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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 | updater (double t, int j=0) |
| update smooth link force law More...
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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 std::string | getType () const |
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virtual void | plot (const fmatvec::Vec &z, double t, double dt=1) |
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virtual void | plot2 (const fmatvec::Vec &z, double t, double dt=1) |
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virtual void | closePlot () |
| closes plot file
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virtual int | solveConstraints () |
| solves prox-functions for contact forces using sparsity structure More...
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virtual int | solveImpacts (double dt=0) |
| solves prox-functions for impacts on velocity level using sparsity structure More...
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void | setConstraintSolver (Solver solver_) |
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void | setImpactSolver (Solver solver_) |
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const Solver & | getConstraintSolver () |
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const Solver & | getImpactSolver () |
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void | setTermination (bool term_) |
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void | setStrategy (Strategy strategy_) |
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void | setMaxIter (int iter) |
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void | setHighIter (int iter) |
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void | setNumJacProj (bool numJac_) |
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void | setMaxDampingSteps (int maxDSteps) |
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void | setLevenbergMarquardtParam (double lmParm_) |
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void | setLinAlg (LinAlg linAlg_) |
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void | setUseOldla (bool flag) |
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void | setDecreaseLevels (const fmatvec::VecInt &decreaseLevels_) |
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void | setCheckTermLevels (const fmatvec::VecInt &checkTermLevels_) |
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void | setCheckGSize (bool checkGSize_) |
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void | setLimitGSize (int limitGSize_) |
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const fmatvec::SparseMat & | getGs () const |
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fmatvec::SparseMat & | getGs () |
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const fmatvec::SqrMat & | getG () const |
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fmatvec::SqrMat & | getG () |
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const fmatvec::Vec & | getb () const |
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fmatvec::Vec & | getb () |
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const fmatvec::SqrMat & | getJprox () const |
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fmatvec::SqrMat & | getJprox () |
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const fmatvec::Mat & | getWParent (int i=0) const |
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const fmatvec::Mat & | getVParent (int i=0) const |
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const fmatvec::Vec & | getlaParent () const |
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const fmatvec::Vec & | getgdParent () const |
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const fmatvec::Vec & | getresParent () const |
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const fmatvec::Vec & | getrFactorParent () const |
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DynamicSystemSolver * | getDynamicSystemSolver () |
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bool | getIntegratorExitRequest () |
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int | getMaxIter () |
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void | computeInitialCondition () |
| compute initial condition for links for event driven integrator
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fmatvec::Vec | deltau (const fmatvec::Vec &zParent, double t, double dt) |
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fmatvec::Vec | deltaq (const fmatvec::Vec &zParent, double t, double dt) |
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fmatvec::Vec | deltax (const fmatvec::Vec &zParent, double t, double dt) |
| return x-state difference for current time More...
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virtual void | initz (fmatvec::Vec &z0) |
| initialises state variables
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int | solveConstraintsLinearEquations () |
| solution of contact equations with Cholesky decomposition More...
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int | solveImpactsLinearEquations (double dt=0) |
| solution of contact equations with Cholesky decomposition on velocity level More...
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virtual void | updateG (double t, int i=0) |
| updates mass action matrix More...
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void | decreaserFactors () |
| decrease relaxation factors if mass action matrix is not diagonal dominant
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void | update (const fmatvec::Vec &z, double t, int options=0) |
| update of dynamic system for time-stepping integrator More...
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virtual void | shift (fmatvec::Vec &z, const fmatvec::VecInt &jsv, double t) |
| update for event driven integrator for event More...
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virtual void | zdot (const fmatvec::Vec &z, fmatvec::Vec &zd, double t) |
| update for event driven integrator during smooth phase More...
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virtual fmatvec::Vec | zdot (const fmatvec::Vec &zParent, double t) |
| standard invocation of smooth update for event driven integration More...
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virtual void | getsv (const fmatvec::Vec &z, fmatvec::Vec &svExt, double t) |
| evaluation of stop vector More...
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void | getLinkStatus (fmatvec::VecInt &LinkStatusExt, double t) |
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void | getLinkStatusReg (fmatvec::VecInt &LinkStatusRegExt, double t) |
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void | projectGeneralizedPositions (double t, int mode, bool fullUpdate=false) |
| drift projection for positions More...
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void | projectGeneralizedVelocities (double t, int mode) |
| drift projection for positions More...
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void | savela (double dt=1.0) |
| save contact force parameter for use as starting value in next time step More...
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void | initla (double dt=1.0) |
| load contact force parameter for use as starting value More...
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double | computeKineticEnergy () |
| compute kinetic energy of entire dynamic system
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double | computePotentialEnergy () |
| compute potential energy of entire dynamic system change? TODO
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void | addElement (Element *element_) |
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Element * | getElement (const std::string &name) |
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std::string | getSolverInfo () |
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void | setStopIfNoConvergence (bool flag, bool dropInfo=false) |
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void | dropContactMatrices () |
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void | setPartialEventDrivenSolver (bool peds_) |
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void | writez (std::string fileName, bool formatH5=true) |
| writes state to a file More...
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void | readz0 (std::string fileName) |
| reads state from a file More...
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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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void | writeXMLFile (const std::string &name) |
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void | writeXMLFile () |
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void | setProjectionTolerance (double tol) |
| set tolerance for projection of generalized position More...
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void | setgTol (double tol) |
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void | setgdTol (double tol) |
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void | setgddTol (double tol) |
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void | setlaTol (double tol) |
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void | setLaTol (double tol) |
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void | updatezRef (const fmatvec::Vec &ext) |
| references to external state More...
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void | setFlushEvery (unsigned int every) |
| set the number of plot-routine-calls after which all hdf5-files will be flushed More...
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void | setAlwaysConsiderContact (bool alwaysConsiderContact_) |
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void | setInverseKinetics (bool inverseKinetics_) |
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void | setInitialProjection (bool initialProjection_) |
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void | setUseConstraintSolverForPlot (bool useConstraintSolverForPlot_) |
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fmatvec::Mat | dhdq (double t, int lb=0, int ub=0) |
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fmatvec::Mat | dhdu (double t, int lb=0, int ub=0) |
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fmatvec::Mat | dhdx (double t) |
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fmatvec::Vec | dhdt (double t) |
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void | setRootID (int ID) |
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int | getRootID () const |
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void | setq (const fmatvec::Vec &q_) |
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void | setLa (const fmatvec::Vec &la_) |
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| Group (const std::string &name="") |
| constructor More...
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virtual | ~Group () |
| destructor
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virtual void | updateJacobians (double t, int j=0) |
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virtual void | facLLM (int i=0) |
| compute Cholesky decomposition of mass matrix TODO necessary?
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virtual void | updatedu (double t, double dt) |
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virtual void | updatezd (double t) |
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virtual void | updateud (double t, int i=0) |
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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 | updateStateDerivativeDependentVariables (double t) |
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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 | 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 | 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 | 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 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 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 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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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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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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fmatvec::SymMat | MParent [2] |
| mass matrix
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fmatvec::SymMat | LLMParent [2] |
| Cholesky decomposition of mass matrix.
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fmatvec::Mat | TParent |
| matrix of linear relation between differentiated positions and velocities
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fmatvec::Mat | WParent [2] |
| contact force directions
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fmatvec::Mat | VParent [2] |
| condensed contact force directions
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fmatvec::Vec | wbParent |
| TODO.
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fmatvec::Vec | laParent |
| contact force parameters
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fmatvec::Vec | rFactorParent |
| relaxation parameters for contact equations
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fmatvec::Vec | sParent |
| TODO.
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fmatvec::Vec | resParent |
| residuum of contact equations
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fmatvec::Vec | gParent |
| relative distances
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fmatvec::Vec | gdParent |
| relative velocities
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fmatvec::Vec | zParent |
| state
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fmatvec::Vec | zdParent |
| differentiated state
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fmatvec::Vec | udParent1 |
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fmatvec::Vec | hParent [2] |
| smooth, smooth with respect to objects, smooth with respect to links right hand side
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fmatvec::Vec | rParent [2] |
| nonsmooth right hand side
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fmatvec::Vec | fParent |
| right hand side of order one parameters
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fmatvec::Vec | svParent |
| stopvector (rootfunctions for event driven integration
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fmatvec::VecInt | jsvParent |
| boolean evaluation of stopvector
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fmatvec::VecInt | LinkStatusParent |
| status vector of set valued links with piecewise link equation (which piece is valid)
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fmatvec::VecInt | LinkStatusRegParent |
| status vector of single valued links
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fmatvec::SparseMat | Gs |
| sparse mass action matrix
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fmatvec::SqrMat | Jprox |
| JACOBIAN of contact equations for Newton scheme.
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fmatvec::SqrMat | G |
| mass action matrix
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fmatvec::Vec | b |
| TODO.
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bool | term |
| boolean to check for termination of contact equations solution
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int | maxIter |
| maximum number of contact iterations, high number of contact iterations for warnings, maximum number of damping steps for Newton scheme
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int | highIter |
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int | maxDampingSteps |
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double | lmParm |
| Levenberg-Marquard parameter.
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Solver | contactSolver |
| solver for contact equations and impact equations
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Solver | impactSolver |
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Strategy | strategy |
| relaxarion strategy for solution of fixed-point scheme
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LinAlg | linAlg |
| linear system solver used for Newton scheme in contact equations
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bool | stopIfNoConvergence |
| flag if the contact equations should be stopped if there is no convergence
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bool | dropContactInfo |
| flag if contact matrices for debugging should be dropped in no-convergence case
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bool | useOldla |
| flag if contac force parameter of last time step should be used
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bool | numJac |
| flag if Jacobian for Newton scheme should be calculated numerically
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fmatvec::VecInt | decreaseLevels |
| decreasing relaxation factors is done in levels containing the number of contact iterations as condition
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fmatvec::VecInt | checkTermLevels |
| TODO.
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bool | checkGSize |
| boolean if force action matrix should be resized in each step
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int | limitGSize |
| TODO.
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int | warnLevel |
| level for warning output (0-2)
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bool | peds |
| TODO, flag for occuring impact and sticking in event driven solver.
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unsigned int | driftCount |
| TODO, additional stop in event driven solver for drift correction.
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unsigned int | flushEvery |
| flushes all hdf5-files every x-times the plot-routine is called TODO
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unsigned int | flushCount |
| counts plot-calls until files to be flushed TODO
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double | tolProj |
| Tolerance for projection of generalized position.
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fmatvec::Vec | laInverseKineticsParent |
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fmatvec::Mat | bInverseKineticsParent |
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fmatvec::Mat | WInverseKineticsParent [2] |
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bool | alwaysConsiderContact |
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bool | inverseKinetics |
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bool | initialProjection |
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bool | useConstraintSolverForPlot |
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fmatvec::Vec | corrParent |
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int | rootID |
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double | gTol |
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double | gdTol |
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double | gddTol |
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double | laTol |
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double | LaTol |
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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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