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| RigidBody (const std::string &name="") |
| constructor More...
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virtual | ~RigidBody () |
| destructor
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void | addDependency (Constraint *constraint_) |
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void | updatedq () |
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void | updateqd () |
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void | updateT () |
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void | updateh (int j=0) |
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void | updateM () |
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void | updateInertiaTensor () |
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void | updateGeneralizedCoordinates () |
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void | updateGeneralizedJacobians (int j=0) |
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void | updatePositions () |
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void | updateVelocities () |
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void | updateJacobians () |
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void | updateGyroscopicAccelerations () |
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void | updatePositions (Frame *frame) |
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void | updateVelocities (Frame *frame) |
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void | updateAccelerations (Frame *frame) |
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void | updateJacobians (Frame *frame, int j=0) |
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void | updateGyroscopicAccelerations (Frame *frame) |
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void | updateJacobians0 (Frame *frame) |
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void | updateJacobians1 (Frame *frame) |
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void | updateJacobians2 (Frame *frame) |
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virtual void | calcqSize () |
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virtual void | calcuSize (int j=0) |
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void | sethSize (int hSize_, int i=0) |
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void | sethInd (int hInd_, int i=0) |
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virtual void | updateqRef (const fmatvec::Vec &ref) |
| references to positions of dynamic system parent More...
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virtual void | updateuRef (const fmatvec::Vec &ref) |
| references to velocities of dynamic system parent More...
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virtual void | init (InitStage stage) |
| initialize object at start of simulation with respect to contours and frames
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virtual void | initz () |
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virtual void | updateLLM () |
| perform Cholesky decomposition of mass martix
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virtual void | setUpInverseKinetics () |
| TODO.
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virtual std::string | getType () const |
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virtual void | plot () |
| plots time dependent data More...
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void | setGeneralTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_) |
| set Kinematic for genral translational motion More...
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void | setTimeDependentTranslation (Function< fmatvec::Vec3(double)> *fPrPK_) |
| set Kinematic for only time dependent translational motion More...
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void | setStateDependentTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_) |
| set Kinematic for only state dependent translational motion More...
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void | setTranslation (Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_) |
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void | setTranslation (Function< fmatvec::Vec3(double)> *fPrPK_) |
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void | setTranslation (Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_) |
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void | setGeneralRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_) |
| set Kinematic for general rotational motion More...
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void | setTimeDependentRotation (Function< fmatvec::RotMat3(double)> *fAPK_) |
| set Kinematic for only time dependent rotational motion More...
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void | setStateDependentRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_) |
| set Kinematic for only state dependent rotational motion More...
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void | setRotation (Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_) |
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void | setRotation (Function< fmatvec::RotMat3(double)> *fAPK_) |
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void | setRotation (Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_) |
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void | setTranslationDependentRotation (bool dep) |
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void | setCoordinateTransformationForRotation (bool ct) |
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void | setBodyFixedRepresentationOfAngularVelocity (bool bf) |
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Function< fmatvec::Vec3(fmatvec::VecV,
double)> * | getTranslation () |
| get Kinematic for translational motion More...
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Function< fmatvec::RotMat3(fmatvec::VecV,
double)> * | getRotation () |
| get Kinematic for rotational motion More...
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void | setMass (double m_) |
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double | getMass () const |
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Frame * | getFrameForKinematics () |
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FixedRelativeFrame * | getFrameC () |
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const fmatvec::Vec3 & | evalGlobalRelativePosition () |
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const fmatvec::Vec3 & | evalGlobalRelativeVelocity () |
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const fmatvec::Vec3 & | evalGlobalRelativeAngularVelocity () |
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const fmatvec::SymMat3 & | evalGlobalInertiaTensor () |
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const fmatvec::Mat3xV & | evalPJTT () |
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const fmatvec::Mat3xV & | evalPJRR () |
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const fmatvec::Vec3 & | evalPjhT () |
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const fmatvec::Vec3 & | evalPjhR () |
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const fmatvec::Vec3 & | evalPjbT () |
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const fmatvec::Vec3 & | evalPjbR () |
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void | setInertiaTensor (const fmatvec::SymMat3 &RThetaR) |
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const fmatvec::SymMat3 & | getInertiaTensor () const |
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fmatvec::SymMat3 & | getInertiaTensor () |
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void | addFrame (FixedRelativeFrame *frame) |
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void | addContour (RigidContour *contour) |
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void | setFrameForKinematics (Frame *frame) |
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void | setFrameForInertiaTensor (Frame *frame) |
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void | setOpenMBVRigidBody (const std::shared_ptr< OpenMBV::RigidBody > &body) |
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void | setOpenMBVFrameOfReference (Frame *frame) |
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const Frame * | getOpenMBVFrameOfReference () const |
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVWeight, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0))) |
| Visualize the weight.
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVJointForce, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0))) |
| Visualize the joint force.
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVJointMoment, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0))) |
| Visualize the joint moment.
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virtual void | initializeUsingXML (xercesc::DOMElement *element) |
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fmatvec::Mat & | getJRel (int i=0, bool check=true) |
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fmatvec::Vec & | getjRel (bool check=true) |
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fmatvec::Vec & | getqRel (bool check=true) |
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fmatvec::Vec & | getuRel (bool check=true) |
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fmatvec::Mat & | getTRel (bool check=true) |
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void | setqRel (const fmatvec::Vec &q) |
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void | setuRel (const fmatvec::Vec &u) |
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void | setJRel (const fmatvec::Mat &J) |
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void | setjRel (const fmatvec::Vec &j) |
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int | getqRelSize () const |
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int | getuRelSize (int i=0) const |
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bool | transformCoordinates () const |
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void | resetUpToDate () |
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void | resetPositionsUpToDate () |
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void | resetVelocitiesUpToDate () |
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void | resetJacobiansUpToDate () |
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void | resetGyroscopicAccelerationsUpToDate () |
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const fmatvec::Vec & | evalqRel () |
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const fmatvec::Vec & | evaluRel () |
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const fmatvec::VecV & | evalqTRel () |
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const fmatvec::VecV & | evalqRRel () |
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const fmatvec::VecV & | evaluTRel () |
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const fmatvec::VecV & | evaluRRel () |
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const fmatvec::Mat & | evalJRel (int j=0) |
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const fmatvec::Vec & | evaljRel () |
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const fmatvec::Mat & | evalTRel () |
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void | setUpdateByReference (bool updateByReference_) |
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Public Member Functions inherited from MBSim::Body |
| Body (const std::string &name) |
| constructor More...
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virtual | ~Body () |
| destructor
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void | setGeneralizedInitialPosition (const fmatvec::Vec &q0_) |
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void | setGeneralizedInitialVelocity (const fmatvec::Vec &u0_) |
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void | setGeneralizedInitialPosition (double q0_) |
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void | setGeneralizedInitialVelocity (double u0_) |
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virtual void | closePlot () |
| closes plot file
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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
| sets the used dynamics system solver to the element More...
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virtual Contour * | getContour (const std::string &name, bool check=true) const |
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virtual Frame * | getFrame (const std::string &name, bool check=true) const |
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virtual Frame * | getFrameOfReference () |
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virtual const Frame * | getFrameOfReference () const |
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virtual void | setFrameOfReference (Frame *frame) |
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const std::vector< Frame * > & | getFrames () const |
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const std::vector< Contour * > & | getContours () const |
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std::shared_ptr< OpenMBV::Group > | getOpenMBVGrp () |
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std::shared_ptr< OpenMBV::Body > & | getOpenMBVBody () |
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int | frameIndex (const Frame *frame_) const |
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int | contourIndex (const Contour *contour_) const |
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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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fmatvec::Mat3xV & | getPJT (int i=0, bool check=true) |
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fmatvec::Mat3xV & | getPJR (int i=0, bool check=true) |
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const fmatvec::Mat3xV & | evalPJT () |
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const fmatvec::Mat3xV & | evalPJR () |
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| Object (const std::string &name) |
| constructor
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virtual | ~Object () |
| destructor
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virtual void | updatedhdz () |
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virtual void | updatedu () |
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virtual void | updateud () |
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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 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 const fmatvec::Vec & | getq () const |
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virtual const fmatvec::Vec & | getu () const |
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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 | updateqdRef (const fmatvec::Vec &qdRef) |
| references to differentiated positions of dynamic system parent More...
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virtual void | updatedqRef (const fmatvec::Vec &dqRef) |
| references to differentiated positions of dynamic system parent More...
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virtual void | updateuallRef (const fmatvec::Vec &uallRef) |
| references to velocities of dynamic system parent More...
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virtual void | updateudRef (const fmatvec::Vec &udRef) |
| references to differentiated velocities of dynamic system parent More...
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virtual void | updateduRef (const fmatvec::Vec &duRef) |
| references to differentiated velocities of dynamic system parent More...
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virtual void | updateudallRef (const fmatvec::Vec &udallRef) |
| references to differentiated velocities of dynamic system parent More...
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virtual void | updatehRef (const fmatvec::Vec &hRef, int i=0) |
| references to smooth force vector of dynamic system parent More...
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virtual void | updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding positions More...
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virtual void | updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding velocities More...
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virtual void | updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0) |
| references to object Jacobian for implicit integration of dynamic system parent regarding time More...
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virtual void | updaterRef (const fmatvec::Vec &ref, int i=0) |
| references to nonsmooth force vector of dynamic system parent More...
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virtual void | updaterdtRef (const fmatvec::Vec &ref) |
| references to nonsmooth force vector of dynamic system parent More...
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virtual 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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virtual void | updateMRef (const fmatvec::SymMat &ref) |
| references to mass matrix of dynamic system parent More...
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virtual void | updateLLMRef (const fmatvec::SymMat &ref) |
| references to Cholesky decomposition of dynamic system parent More...
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virtual void | writez (H5::GroupBase *group) |
| writes its z-Vector to a subgroup of the given group
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virtual void | readz0 (H5::GroupBase *group) |
| reads the z-Vector of a subgroup of the given group
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virtual double | evalKineticEnergy () |
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virtual double | evalPotentialEnergy () |
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void | setqSize (int qSize_) |
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void | setuSize (int uSize_, int i=0) |
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int | getzSize () const |
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int | gethInd (int i=0) |
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const fmatvec::Vec & | geth (int i=0, bool check=true) const |
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fmatvec::Vec & | geth (int i=0, bool check=true) |
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fmatvec::Vec & | getq () |
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fmatvec::Vec & | getu () |
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const fmatvec::Vec & | getq0 () const |
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const fmatvec::Vec & | getu0 () const |
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fmatvec::Vec & | getq0 () |
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fmatvec::Vec & | getu0 () |
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const fmatvec::Mat & | evalT () |
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const fmatvec::Vec & | evalh (int i=0) |
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const fmatvec::SymMat & | evalM () |
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const fmatvec::SymMat & | evalLLM () |
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const fmatvec::Vec & | evalr (int i=0) |
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const fmatvec::Vec & | evalrdt () |
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const fmatvec::Vec & | evalqd () |
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const fmatvec::Vec & | evalud () |
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const fmatvec::Vec & | evaludall () |
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void | setq (const fmatvec::Vec &q_) |
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void | setu (const fmatvec::Vec &u_) |
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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 | plotAtSpecialEvent () |
| plots time dependent data at special events More...
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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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PlotFeatureStatus | initializePlotFeatureStatusUsingXML (xercesc::DOMElement *e) |
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PlotFeature | initializePlotFeatureUsingXML (xercesc::DOMElement *e) |
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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 * > | getDependencies () 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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const double & | getTime () const |
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double | getStepSize () const |
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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, std::shared_ptr< bool > &a, std::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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