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| FlexibleBodyLinearExternal (const std::string &name) |
| constructor More...
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virtual | ~FlexibleBodyLinearExternal () |
| destructor
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virtual std::string | getType () const |
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virtual void | init (InitStage stage) |
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virtual void | facLLM () |
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virtual void | BuildElements () |
| references finite element coordinates to assembled coordinates
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virtual void | GlobalVectorContribution (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) |
| insert 'local' information in global vectors More...
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virtual void | GlobalMatrixContribution (int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat) |
| insert 'local' information in global matrices More...
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virtual void | GlobalMatrixContribution (int n, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat) |
| insert 'local' information in global matrices More...
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virtual void | updateKinematicsForFrame (MBSim::ContourPointData &cp, MBSim::Frame::Feature ff, MBSim::Frame *frame=0) |
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virtual void | updateJacobiansForFrame (MBSim::ContourPointData &data, MBSim::Frame *frame=0) |
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void | readMassMatrix (const std::string &massfilename) |
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void | setMassMatrix (const fmatvec::SymMat &mat) |
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void | readStiffnessMatrix (const std::string &stiffnessfilename) |
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void | setStiffnessMatrix (const fmatvec::SqrMat &mat) |
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void | setProportionalDamping (const double &a, const double &b) |
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void | setWrON00 (const fmatvec::Vec &WrON00_) |
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fmatvec::Mat | computeJacobianMatrix (const MBSim::ContourPointData &CP) |
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Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody |
| FlexibleBody (const std::string &name) |
| constructor More...
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virtual | ~FlexibleBody () |
| destructor
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virtual void | updatedq () |
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virtual void | updateqd () |
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virtual void | updateh (int k=0) |
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virtual void | updateM () |
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virtual void | updatedhdz () |
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virtual void | updatePositions (NodeFrame *frame) |
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virtual void | updateVelocities (NodeFrame *frame) |
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virtual void | updateAccelerations (NodeFrame *frame) |
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virtual void | updateJacobians (NodeFrame *frame, int j=0) |
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virtual void | updateGyroscopicAccelerations (NodeFrame *frame) |
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virtual void | plot () |
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virtual void | initializeUsingXML (xercesc::DOMElement *element) |
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virtual double | computeKineticEnergy () |
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virtual double | computePotentialEnergy () |
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virtual void | setFrameOfReference (MBSim::Frame *frame) |
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virtual void | setq0 (fmatvec::Vec q0_) |
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virtual void | setu0 (fmatvec::Vec u0_) |
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const fmatvec::Vec & | getqElement (int i) |
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const fmatvec::Vec & | getuElement (int i) |
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virtual fmatvec::Vec3 | getAngles (int i) |
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virtual fmatvec::Vec3 | getDerivativeOfAngles (int i) |
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void | setMassProportionalDamping (const double d_) |
| cartesian kinematic for contour or external frame (normal, tangent, binormal) is set by implementation class More...
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void | addFrame (NodeFrame *frame) |
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void | addFrame (MBSim::ContourFrame *frame) |
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void | addFrame (MBSim::FixedRelativeFrame *frame) |
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void | addContour (MBSim::Contour *contour) |
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virtual void | exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int °=3, const bool &writePsFile=false) |
| interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file More...
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virtual void | importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string()) |
| imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve More...
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void | resetUpToDate () |
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Public Member Functions inherited from MBSim::Body |
| Body (const std::string &name) |
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virtual void | closePlot () |
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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
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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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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 |
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| Object (const std::string &name) |
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virtual void | updateqRef (const fmatvec::Vec &qRef) |
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virtual void | updateqdRef (const fmatvec::Vec &qdRef) |
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virtual void | updatedqRef (const fmatvec::Vec &dqRef) |
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virtual void | updateuRef (const fmatvec::Vec &uRef) |
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virtual void | updateuallRef (const fmatvec::Vec &uallRef) |
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virtual void | updateudRef (const fmatvec::Vec &udRef) |
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virtual void | updateduRef (const fmatvec::Vec &duRef) |
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virtual void | updateudallRef (const fmatvec::Vec &udallRef) |
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virtual void | updatehRef (const fmatvec::Vec &hRef, int i=0) |
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virtual void | updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0) |
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virtual void | updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0) |
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virtual void | updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0) |
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virtual void | updaterRef (const fmatvec::Vec &ref, int i=0) |
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virtual void | updaterdtRef (const fmatvec::Vec &ref) |
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virtual void | updateTRef (const fmatvec::Mat &ref) |
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virtual void | updateMRef (const fmatvec::SymMat &ref) |
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virtual void | updateLLMRef (const fmatvec::SymMat &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 *group) |
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virtual void | updateLLM () |
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virtual double | evalKineticEnergy () |
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virtual double | evalPotentialEnergy () |
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virtual void | setUpInverseKinetics () |
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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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Linear models from external preprocessing, e.g. Finite Element model.
- Author
- Roland Zander
- Date
- 2009-03-26 initial kernel_dev commit (Roland Zander)
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2009-04-05 minor change: parent class is not template class (Schindler / Zander)
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2009-07-23 implicit integration (Thorsten Schindler)
Systems equation of motion:
with CONSTANT matrices
. The model uses n degrees of freedom (dimension of
) and d translational directions (dimension of Jacobi-matrizes
)