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MBSimFlexibleBody::Trafo33RCM Class Reference

transformation of coordinates for FiniteElement1s33RCM More...

#include <trafo33RCM.h>

Public Member Functions

 Trafo33RCM (RevCardanPtr angle_, double l0_)
 constructor
 
virtual ~Trafo33RCM ()
 destructor
 
const fmatvec::SqrMatgetJIG () const
 
const fmatvec::SqrMatgetJIGt () const
 
const fmatvec::VecgetpS () const
 
const fmatvec::VecgetpSt () const
 
const fmatvec::VecgettS () const
 
const fmatvec::VecgetnS () const
 
const fmatvec::VecgetbS () const
 
const fmatvec::RowVecgetnSH () const
 
const fmatvec::RowVecgetbSH () const
 
const fmatvec::VecgetntilS () const
 
const fmatvec::VecgetbtilS () const
 
const fmatvec::RowVecgetntilSH () const
 
const fmatvec::RowVecgetbtilSH () const
 
const fmatvec::VecgettSt () const
 
const fmatvec::VecgetnSt () const
 
const fmatvec::VecgetbSt () const
 
const fmatvec::RowVecgettStH () const
 
const fmatvec::RowVecgetnStH () const
 
const fmatvec::RowVecgetbStH () const
 
const fmatvec::RowVecgetntilStH () const
 
const fmatvec::RowVecgetbtilStH () const
 
const fmatvec::SqrMatgettSpS () const
 
const fmatvec::SqrMatgetnSpS () const
 
const fmatvec::SqrMatgetbSpS () const
 
const fmatvec::SqrMatgetntilSpS () const
 
const fmatvec::SqrMatgetbtilSpS () const
 
const fmatvec::SqrMatgettSpSt () const
 
const fmatvec::SqrMatgetnSpSt () const
 
const fmatvec::SqrMatgetbSpSt () const
 
const fmatvec::SqrMatgetntilSpSt () const
 
const fmatvec::SqrMatgetbtilSpSt () const
 
const fmatvec::VecgetqIt () const
 
const double & getepstil () const
 
const double & getepstilt () const
 
const fmatvec::VecgetrS () const
 
const fmatvec::VecgetrSt () const
 
const double & getk0 () const
 
const double & getk0t () const
 
const fmatvec::Vecgetbe () const
 
const fmatvec::Vecgetbet () const
 
const double & getxintil () const
 
const double & getxibtil () const
 
const double & getetantil () const
 
const double & getetabtil () const
 
const double & getxintilt () const
 
const double & getxibtilt () const
 
const double & getetantilt () const
 
const double & getetabtilt () const
 
const fmatvec::SqrMatgetV () const
 
void computeqI (const fmatvec::Vec &qG)
 compute the internal coordinates More...
 
void computeJIG (const fmatvec::Vec &qG)
 compute the Jacobian of the trafo More...
 
void computezI (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute the internal state More...
 
void computeCOSYt (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute the internal time differentiated COSY More...
 
void computeTrafo (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute the internal coordinates and velocities as well as JIGt More...
 

Private Member Functions

void computeprelim (const fmatvec::Vec &qG)
 computes preliminaries More...
 
fmatvec::Vec computes0 (const fmatvec::Vec &qG)
 compute the initial value for computebe() More...
 
void computebe (const fmatvec::Vec &qG)
 compute the angle and bending positions More...
 
void computeCOSY ()
 compute the COSY
 
void computerSepstk0 (const fmatvec::Vec &qG)
 compute the CP, prolongation and torsion More...
 
void computedrRdrL ()
 compute delta matrix for right and left beam end
 
void computeV ()
 compute the derivative of coefficients of bending polynomials w with respect to bending coordinates
 
void computebeqG ()
 compute the derivative of bE with respect to qG
 
void computeCOSYqG ()
 compute the derivative of COSY with respect to qG
 
void computeCOSYt ()
 compute the derivative of COSY with respect to time
 
void computeJIGt (const fmatvec::Vec &qGt)
 compute the derivative of JIG with respect to time More...
 

Private Attributes

RevCardanPtr angle
 reversed Cardan-Object
 
double l0
 length of FiniteElement1s33RCM and powers
 
double l0h2
 
double l0h3
 
double l0h4
 
double l0h5
 
double xstar
 
double xstarh2
 
double xstarh3
 
double epstil
 internal coordinates of the FiniteElement1s33RCM
 
double k0
 
fmatvec::Vec rS
 
fmatvec::Vec pS
 
fmatvec::Vec rRrLp
 sum of right and left translational vector as well as transpose of the difference
 
fmatvec::RowVec rRrLmH
 
fmatvec::Vec be
 bending coordinates
 
fmatvec::Vec tS
 COSY definitions.
 
fmatvec::Vec nS
 
fmatvec::Vec bS
 
fmatvec::Vec ntilS
 
fmatvec::Vec btilS
 
fmatvec::RowVec nSH
 
fmatvec::RowVec bSH
 
fmatvec::RowVec ntilSH
 
fmatvec::RowVec btilSH
 
fmatvec::SqrMat tSpS
 
fmatvec::SqrMat nSpS
 
fmatvec::SqrMat bSpS
 
fmatvec::SqrMat ntilSpS
 
fmatvec::SqrMat btilSpS
 
double xibtil
 
double xintil
 
double etabtil
 
double etantil
 
fmatvec::Mat SMRHS_Jac
 system matrix and right hand side for computebe()
 
fmatvec::SqrMat V
 derivative of coefficients of bending polynomials w with respect to bending coordinates
 
fmatvec::Mat drRdrLp
 delta matrices for computebe()
 
fmatvec::Mat drRdrLm
 
fmatvec::Mat pSbE
 
fmatvec::Mat SMRHS
 COSY definitions for computebe()
 
fmatvec::Mat nSbE
 
fmatvec::Mat bSbE
 
fmatvec::Mat ntilSbE
 
fmatvec::Mat btilSbE
 
fmatvec::RowVec xibtilbE
 
fmatvec::RowVec xintilbE
 
fmatvec::RowVec etabtilbE
 
fmatvec::RowVec etantilbE
 
fmatvec::Mat beqG
 derivative of be and COSY with respect to qG
 
fmatvec::Mat tSqG
 
fmatvec::Mat nSqG
 
fmatvec::Mat bSqG
 
fmatvec::Mat ntilSqG
 
fmatvec::Mat btilSqG
 
fmatvec::RowVec xintilqG
 
fmatvec::RowVec xibtilqG
 
fmatvec::RowVec etantilqG
 
fmatvec::RowVec etabtilqG
 
fmatvec::SqrMat JIG
 Jacobian and differentiated Jacobian.
 
fmatvec::SqrMat JIGt
 
double k0t
 derivative of k0, epstilt, qI, rS, be and COSY with respect to time
 
double epstilt
 
fmatvec::Vec qIt
 
fmatvec::Vec rSt
 
fmatvec::Vec bet
 
fmatvec::Vec pSt
 
fmatvec::Vec tSt
 
fmatvec::Vec nSt
 
fmatvec::Vec bSt
 
fmatvec::RowVec tStH
 
fmatvec::RowVec nStH
 
fmatvec::RowVec bStH
 
fmatvec::RowVec ntilStH
 
fmatvec::RowVec btilStH
 
fmatvec::SqrMat tSpSt
 
fmatvec::SqrMat nSpSt
 
fmatvec::SqrMat bSpSt
 
fmatvec::SqrMat ntilSpSt
 
fmatvec::SqrMat btilSpSt
 
double xibtilt
 
double xintilt
 
double etabtilt
 
double etantilt
 

Detailed Description

transformation of coordinates for FiniteElement1s33RCM

Author
Thorsten Schindler
Date
2009-04-24 initial commit (Thorsten Schindler)

Member Function Documentation

void MBSimFlexibleBody::Trafo33RCM::computebe ( const fmatvec::Vec qG)
private

compute the angle and bending positions

Parameters
globalcoordinates
void MBSimFlexibleBody::Trafo33RCM::computeCOSYt ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

compute the internal time differentiated COSY

Parameters
globalcoordinates
globalvelocities
void MBSimFlexibleBody::Trafo33RCM::computeJIG ( const fmatvec::Vec qG)

compute the Jacobian of the trafo

Parameters
globalcoordinates
void MBSimFlexibleBody::Trafo33RCM::computeJIGt ( const fmatvec::Vec qGt)
private

compute the derivative of JIG with respect to time

Parameters
globalvelocities
void MBSimFlexibleBody::Trafo33RCM::computeprelim ( const fmatvec::Vec qG)
private

computes preliminaries

Parameters
globalcoordinates
void MBSimFlexibleBody::Trafo33RCM::computeqI ( const fmatvec::Vec qG)

compute the internal coordinates

Parameters
globalcoordinates
void MBSimFlexibleBody::Trafo33RCM::computerSepstk0 ( const fmatvec::Vec qG)
private

compute the CP, prolongation and torsion

Parameters
globalcoordinates
Vec MBSimFlexibleBody::Trafo33RCM::computes0 ( const fmatvec::Vec qG)
private

compute the initial value for computebe()

Parameters
globalcoordinates
void MBSimFlexibleBody::Trafo33RCM::computeTrafo ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

compute the internal coordinates and velocities as well as JIGt

Parameters
globalcoordinates
globalvelocities
void MBSimFlexibleBody::Trafo33RCM::computezI ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

compute the internal state

Parameters
globalcoordinates
globalvelocities

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

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