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MBSimFlexibleBody::FlexibleBody1sCosserat Class Referenceabstract
Inheritance diagram for MBSimFlexibleBody::FlexibleBody1sCosserat:
MBSimFlexibleBody::FlexibleBody1s MBSimFlexibleBody::FlexibleBodyContinuum< double > MBSimFlexibleBody::FlexibleBody MBSim::Body MBSim::Object MBSim::Element fmatvec::Atom MBSimFlexibleBody::FlexibleBody1s21Cosserat MBSimFlexibleBody::FlexibleBody1s33Cosserat

Public Member Functions

 FlexibleBody1sCosserat (const std::string &name, bool openStructure)
 constructor More...
 
virtual void BuildElements ()=0
 references finite element coordinates to assembled coordinates
 
const fmatvec::VecevalqRotationElement (int i)
 
const fmatvec::VecevaluRotationElement (int i)
 
virtual void GlobalVectorContribution (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)=0
 insert 'local' information in global vectors More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat)=0
 insert 'local' information in global matrices More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat)=0
 insert 'local' information in global matrices More...
 
virtual void exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false)=0
 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...
 
virtual void importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string())=0
 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...
 
virtual void updateh (int i=0)
 
virtual std::string getType () const
 
virtual void setNumberElements (int n)=0
 
void setEGModuls (double E_, double G_)
 
void setDensity (double rho_)
 
void setCrossSectionalArea (double A_)
 
virtual void setMomentsInertia (double I1_, double I2_, double I0_)
 
virtual void setMomentsInertia (double I1_)
 
virtual void setCurlRadius (double R1_, double R2_)
 
virtual void setCurlRadius (double R1_)
 
virtual void setMaterialDamping (double cEps0D_, double cEps1D_, double cEps2D_)
 
virtual void setMaterialDamping (double cEps0D_, double cEps1D_)
 
virtual Contour1sNeutralCosseratcreateNeutralPhase (const std::string &contourName="Neutral")
 automatically creates its neutral contour
 
virtual fmatvec::Mat3xV transformJacobian (fmatvec::Mat3xV J)
 interface function to transform the Jacobian if the generalized coordinates have been changed More...
 
virtual int getNumberOfElementDOF () const
 
virtual int getNumberElements () const
 
virtual int getqSizeFull () const
 
virtual void initInfo ()=0
 compute state (positions, angles, velocities, differentiated angles) at Lagrangian coordinate in local FE coordinates More...
 
virtual void BuildElementTranslation (const double &sGlobal, double &sLocal, int &currentElementTranslation)=0
 detect current finite element (translation) More...
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1s
 FlexibleBody1s (const std::string &name, bool openStructure)
 constructor: More...
 
virtual void init (InitStage stage)
 
virtual void plot ()
 
void setLength (double L_)
 
double getLength () const
 
bool getOpenStructure () const
 
void addFrame (Frame1s *frame)
 
virtual void updatePositions (Frame1s *frame)
 
virtual void updateVelocities (Frame1s *frame)
 
virtual void updateAccelerations (Frame1s *frame)
 
virtual void updateJacobians (Frame1s *frame, int j=0)
 
virtual void updateGyroscopicAccelerations (Frame1s *frame)
 
virtual fmatvec::Vec3 getPosition (double s)
 
virtual fmatvec::SqrMat3 getOrientation (double s)
 
virtual fmatvec::Vec3 getAngles (double s)
 
void setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &body)
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
 FlexibleBodyContinuum (const std::string &name)
 constructor More...
 
void setContourNodes (const std::vector< double > nodes)
 
void setNodeOffset (const doublenodeOffset_)
 
double getNodeOffset () const
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody
 FlexibleBody (const std::string &name)
 constructor More...
 
virtual ~FlexibleBody ()
 destructor
 
virtual void updatedq ()
 
virtual void updateqd ()
 
virtual void updateM ()
 
virtual void updatedhdz ()
 
virtual void updatePositions (NodeFrame *frame)
 
virtual void updateVelocities (NodeFrame *frame)
 
virtual void updateAccelerations (NodeFrame *frame)
 
virtual void updateJacobians (NodeFrame *frame, int j=0)
 
virtual void updateGyroscopicAccelerations (NodeFrame *frame)
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual double computeKineticEnergy ()
 
virtual double computePotentialEnergy ()
 
virtual void setFrameOfReference (MBSim::Frame *frame)
 
virtual void setq0 (fmatvec::Vec q0_)
 
virtual void setu0 (fmatvec::Vec u0_)
 
const fmatvec::VecgetqElement (int i)
 
const fmatvec::VecgetuElement (int i)
 
virtual fmatvec::Vec3 getAngles (int i)
 
virtual fmatvec::Vec3 getDerivativeOfAngles (int i)
 
void setMassProportionalDamping (const double d_)
 cartesian kinematic for contour or external frame (normal, tangent, binormal) is set by implementation class More...
 
void addFrame (NodeFrame *frame)
 
void addFrame (MBSim::ContourFrame *frame)
 
void addFrame (MBSim::FixedRelativeFrame *frame)
 
void addContour (MBSim::Contour *contour)
 
void resetUpToDate ()
 
- Public Member Functions inherited from MBSim::Body
 Body (const std::string &name)
 
virtual void closePlot ()
 
virtual void setDynamicSystemSolver (DynamicSystemSolver *sys)
 
virtual ContourgetContour (const std::string &name, bool check=true) const
 
virtual FramegetFrame (const std::string &name, bool check=true) const
 
virtual FramegetFrameOfReference ()
 
virtual const FramegetFrameOfReference () const
 
int frameIndex (const Frame *frame_) const
 
int contourIndex (const Contour *contour_) const
 
virtual ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 
 Object (const std::string &name)
 
virtual void updateqRef (const fmatvec::Vec &qRef)
 
virtual void updateqdRef (const fmatvec::Vec &qdRef)
 
virtual void updatedqRef (const fmatvec::Vec &dqRef)
 
virtual void updateuRef (const fmatvec::Vec &uRef)
 
virtual void updateuallRef (const fmatvec::Vec &uallRef)
 
virtual void updateudRef (const fmatvec::Vec &udRef)
 
virtual void updateduRef (const fmatvec::Vec &duRef)
 
virtual void updateudallRef (const fmatvec::Vec &udallRef)
 
virtual void updatehRef (const fmatvec::Vec &hRef, int i=0)
 
virtual void updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0)
 
virtual void updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0)
 
virtual void updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0)
 
virtual void updaterRef (const fmatvec::Vec &ref, int i=0)
 
virtual void updaterdtRef (const fmatvec::Vec &ref)
 
virtual void updateTRef (const fmatvec::Mat &ref)
 
virtual void updateMRef (const fmatvec::SymMat &ref)
 
virtual void updateLLMRef (const fmatvec::SymMat &ref)
 
virtual void initz ()
 
virtual void writez (H5::GroupBase *group)
 
virtual void readz0 (H5::GroupBase *group)
 
virtual void updateLLM ()
 
virtual double evalKineticEnergy ()
 
virtual double evalPotentialEnergy ()
 
virtual void setUpInverseKinetics ()
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Protected Member Functions

 FlexibleBody1sCosserat (const FlexibleBody1sCosserat &)
 
FlexibleBody1sCosseratoperator= (const FlexibleBody1sCosserat &)
 
virtual void initM ()=0
 initialize translational part of mass matrix and calculate Cholesky decomposition
 
virtual void computeBoundaryCondition ()=0
 compute boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated in the following function
 
virtual void GlobalVectorContributionRotation (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)=0
 insert 'local' information in global vectors for rotation grid More...
 
- Protected Member Functions inherited from MBSim::Body
virtual void addFrame (Frame *frame)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Protected Attributes

std::vector
< DiscretizationInterface * > 
rotationDiscretization
 stl-vector of finite elements for rotation grid
 
std::vector< fmatvec::VecqRotationElement
 stl-vector of finite element positions for rotation grid
 
std::vector< fmatvec::VecuRotationElement
 stl-vector of finite element wise velocities for rotation grid
 
CardanPtr angle
 angle parametrisation
 
int Elements
 number of translational elements
 
int rotationalElements
 number of rotational elements =Elements (for a closed structure) or =Elements+1 (for an open structure)
 
double l0
 length of entire beam and finite elements
 
double E
 elastic modules
 
double G
 
double A
 area of cross-section
 
double I1
 area moments of inertia I0: around torsional axis I1: in t-b-plane I2: in t-n-plane
 
double rho
 density
 
double R1
 radius of undeformed shape R1: in t-b-plane R2: in t-n-plane
 
double cEps0D
 strain damping
 
double cEps1D
 
bool initialised
 initialised FLAG
 
fmatvec::Vec bound_ang_start
 boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated by the following values calculated in computeBoundaryCondition()
 
fmatvec::Vec bound_ang_end
 
fmatvec::Vec bound_ang_vel_start
 
fmatvec::Vec bound_ang_vel_end
 
Contour1sNeutralCosseratncc
 contour for the spine extrusion
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody1s
double L
 length of beam
 
bool openStructure
 flag for open (cantilever beam) or closed (rings) structures
 
Frame1s P
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
std::vector< double > userContourNodes
 grid for contact point detection
 
double nodeOffset
 offset of the ROTNODE from the TRANSNODE
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody
std::vector
< DiscretizationInterface * > 
discretization
 stl-vector of discretizations/finite elements
 
std::vector< fmatvec::VecqElement
 stl-vector of finite element wise positions
 
std::vector< fmatvec::VecuElement
 stl-vector of finite element wise velocities
 
double d_massproportional
 damping factor for mass proportion, see BodyFlexible::setMassProportionalDamping()
 
bool updEle
 vector of contour parameters each describing a frame More...
 
- Protected Attributes inherited from MBSim::Body
std::vector< Frame * > frame
 
FrameR
 
fmatvec::Mat3xV PJT [2]
 
int qSize
 
int uSize [2]
 
int hSize [2]
 
int qInd
 
fmatvec::Vec q
 
fmatvec::Vec q0
 
fmatvec::Vec qd
 
fmatvec::Vec h [2]
 
fmatvec::Mat dhdq
 
fmatvec::Mat T
 
fmatvec::SymMat M
 
fmatvec::SymMat LLM
 

Additional Inherited Members

- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const std::shared_ptr< bool > &a=std::make_shared< bool >(true), const std::shared_ptr< std::ostream > &s=std::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 

Constructor & Destructor Documentation

MBSimFlexibleBody::FlexibleBody1sCosserat::FlexibleBody1sCosserat ( const std::string &  name,
bool  openStructure 
)

constructor

Parameters
nameof body
boolto specify open (cantilever) or closed (ring) structure

Member Function Documentation

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::BuildElementTranslation ( const double &  sGlobal,
double &  sLocal,
int &  currentElementTranslation 
)
pure virtual

detect current finite element (translation)

Parameters
globalparametrisation
localparametrisation
finiteelement number

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::exportPositionVelocity ( const std::string &  filenamePos,
const std::string &  filenameVel = std::string(),
const int &  deg = 3,
const bool &  writePsFile = false 
)
pure virtual

interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file

Parameters
filenamePosName of the exported position curve file
filenameVelName of the exported velocity curve file
degDegree of Nurbs interpolation
writePsFileA Postscript-file of the curve profile is created

Remark: the knot vector is parametrized between [0,L]

Reimplemented from MBSimFlexibleBody::FlexibleBody.

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::Mat locMat,
fmatvec::Mat gloMat 
)
pure virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::SymMat locMat,
fmatvec::SymMat gloMat 
)
pure virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::GlobalVectorContribution ( int  CurrentElement,
const fmatvec::Vec locVec,
fmatvec::Vec gloVec 
)
pure virtual

insert 'local' information in global vectors

Parameters
numberof finite element
localvector
globalvector

Implements MBSimFlexibleBody::FlexibleBody.

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::GlobalVectorContributionRotation ( int  n,
const fmatvec::Vec locVec,
fmatvec::Vec gloVec 
)
protectedpure virtual

insert 'local' information in global vectors for rotation grid

Parameters
numberof finite element
localvector
globalvector

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::importPositionVelocity ( const std::string &  filenamePos,
const std::string &  filenameVel = std::string() 
)
pure virtual

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

Parameters
filenamePosName of the imported position curve file
filenameVelName of the imported velocity curve file

Reimplemented from MBSimFlexibleBody::FlexibleBody.

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual void MBSimFlexibleBody::FlexibleBody1sCosserat::initInfo ( )
pure virtual

compute state (positions, angles, velocities, differentiated angles) at Lagrangian coordinate in local FE coordinates

Parameters
Lagrangiancoordinate compute angles at Lagrangian coordinate in local FE coordinates
Lagrangiancoordinate initialise beam only for giving information with respect to state, number elements, length, (not for simulation)

Implemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, and MBSimFlexibleBody::FlexibleBody1s33Cosserat.

virtual fmatvec::Mat3xV MBSimFlexibleBody::FlexibleBody1sCosserat::transformJacobian ( fmatvec::Mat3xV  J)
inlinevirtual

interface function to transform the Jacobian if the generalized coordinates have been changed

default: no transformation!

Todo:
: make real concept for reduced bodies in MBSim

Reimplemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat.


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

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