basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies
More...
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| Contour (const std::string &name, Frame *R=0) |
| constructor More...
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virtual | ~Contour () |
| destructor
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virtual std::string | getType () const |
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virtual void | plot (double t, double dt=1) |
| plots time dependent data More...
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virtual void | updateKinematicsForFrame (ContourPointData &cp, Frame::Feature ff)=0 |
| cartesian kinematic for contour (normal, tangent, binormal) is set by implementation class More...
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virtual void | updateJacobiansForFrame (ContourPointData &cp, int j=0)=0 |
| JACOBIAN for contour (normal, tangent, binormal) is set by implementation class. More...
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virtual fmatvec::Vec3 | computeNormal (ContourPointData &cp) |
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virtual fmatvec::Vec3 | computePosition (ContourPointData &cp) |
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virtual fmatvec::Vec3 | computeVelocity (ContourPointData &cp) |
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virtual fmatvec::Vec3 | computeAngularVelocity (ContourPointData &cp) |
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virtual double | computeCurvature (ContourPointData &cp) |
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virtual fmatvec::Vec2 | computeLagrangeParameter (const fmatvec::Vec3 &WrPoint) |
| projects the point on the contour to compute the Lagrange parameter More...
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virtual void | setReferencePosition (const fmatvec::Vec3 &WrOP) |
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virtual void | setReferenceOrientation (const fmatvec::SqrMat3 &AWC) |
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virtual void | setReferenceVelocity (const fmatvec::Vec3 &WvP) |
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virtual void | setReferenceAngularVelocity (const fmatvec::Vec3 &WomegaC) |
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virtual void | setReferenceJacobianOfTranslation (const fmatvec::Mat3xV &WJP, int j=0) |
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virtual void | setReferenceGyroscopicAccelerationOfTranslation (const fmatvec::Vec3 &WjP, int j=0) |
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virtual void | setReferenceJacobianOfRotation (const fmatvec::Mat3xV &WJR, int j=0) |
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virtual void | setReferenceGyroscopicAccelerationOfRotation (const fmatvec::Vec3 &WjR, int j=0) |
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virtual void | setReferenceAcceleration (const fmatvec::Vec3 &WaP) |
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virtual void | setReferenceAngularAcceleration (const fmatvec::Vec3 &WpsiC) |
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virtual void | init (InitStage stage) |
| TODO.
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virtual ContactKinematics * | findContactPairingWith (std::string type0, std::string type1)=0 |
| find contact kinematics More...
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Frame * | getFrame () |
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Frame * | getFrameOfReference () |
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const fmatvec::Vec3 & | getReferencePosition () const |
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const fmatvec::SqrMat3 & | getReferenceOrientation () const |
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const fmatvec::Vec3 & | getReferenceVelocity () const |
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const fmatvec::Vec3 & | getReferenceAngularVelocity () const |
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const fmatvec::Mat3xV & | getReferenceJacobianOfTranslation (int j=0) const |
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const fmatvec::Mat3xV & | getReferenceJacobianOfRotation (int j=0) const |
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fmatvec::Mat3xV & | getReferenceJacobianOfTranslation (int j=0) |
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fmatvec::Mat3xV & | getReferenceJacobianOfRotation (int j=0) |
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const fmatvec::Vec3 & | getReferenceGyroscopicAccelerationOfTranslation () const |
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const fmatvec::Vec3 & | getReferenceGyroscopicAccelerationOfRotation () const |
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fmatvec::Vec3 & | getReferenceGyroscopicAccelerationOfTranslation () |
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fmatvec::Vec3 & | getReferenceGyroscopicAccelerationOfRotation () |
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virtual int | gethSize (int i=0) const |
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virtual int | gethInd (int i=0) const |
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virtual void | sethSize (int size, int i=0) |
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virtual void | sethInd (int ind, int i=0) |
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void | setFrameOfReference (Frame *frame) |
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void | setFrameOfReference (const std::string &frame) |
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virtual void | updateStateDependentVariables (double t) |
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virtual void | updateJacobians (double t, int j=0) |
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virtual void | updateStateDerivativeDependentVariables (const fmatvec::Vec &ud, double t) |
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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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| 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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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
| sets the used dynamics system solver to the element 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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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 * | 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 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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enum | PlotFeatureStatus { enabled,
disabled,
unset
} |
| Plot feature status. More...
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enum | PlotFeature {
plotRecursive =0,
separateFilePerGroup,
state,
stateDerivative,
notMinimalState,
rightHandSide,
globalPosition,
globalVelocity,
globalAcceleration,
energy,
openMBV,
generalizedLinkForce,
linkKinematics,
stopVector,
debug,
LASTPLOTFEATURE
} |
| Plot Features. More...
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enum | InitStage {
modelBuildup =0,
resolveXMLPath,
preInit,
resize,
relativeFrameContourLocation,
worldFrameContourLocation,
plotting,
reorganizeHierarchy,
unknownStage,
calculateLocalInitialValues,
LASTINITSTAGE
} |
| The stages of the initialization. More...
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enum | MsgType |
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static double | getDouble (xercesc::DOMElement *e) |
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static int | getInt (xercesc::DOMElement *e) |
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static bool | getBool (xercesc::DOMElement *e) |
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static fmatvec::Vec3 | getVec3 (xercesc::DOMElement *e) |
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static fmatvec::Vec | getVec (xercesc::DOMElement *e, int rows=0) |
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static fmatvec::Mat3xV | getMat3xV (xercesc::DOMElement *e, int cols=0) |
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static fmatvec::Mat | getMat (xercesc::DOMElement *e, int rows=0, int cols=0) |
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static fmatvec::SqrMat3 | getSqrMat3 (xercesc::DOMElement *e) |
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static fmatvec::SqrMat | getSqrMat (xercesc::DOMElement *e, int size=0) |
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static fmatvec::SymMat3 | getSymMat3 (xercesc::DOMElement *e) |
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static fmatvec::SymMat | getSymMat (xercesc::DOMElement *e, int size=0) |
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static void | setCurrentMessageStream (MsgType type, const boost::shared_ptr< bool > &a=boost::make_shared< bool >(true), const boost::shared_ptr< std::ostream > &s=boost::make_shared< std::ostream >(std::cout.rdbuf())) |
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static std::ostream & | msgStatic (MsgType type) |
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static bool | msgActStatic (MsgType type) |
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void | updatePlotFeatures () |
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| Atom (const Atom &src) |
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basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies
- Author
- Martin Foerg
- Date
- 2009-03-23 some comments (Thorsten Schindler)
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2009-04-20 RigidContour added (Thorsten Schindler)
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2009-06-04 not rigid things are in separate files
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2009-07-16 split from concret contours into new folder contours
kinematics is stored in coordinate system class and is individually evaluated in specific contact kinematics