finite element for spatial beam using Cosserat model : rotation element for bending and torsion
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| FiniteElement1s33CosseratRotation (double l0_, double E_, double G_, double I1_, double I2_, double I0_, CardanPtr ag_) |
| constructor More...
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virtual | ~FiniteElement1s33CosseratRotation () |
| destructor
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virtual const fmatvec::SymMat & | getM () const |
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virtual const fmatvec::Vec & | geth () const |
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virtual const fmatvec::SqrMat & | getdhdq () const |
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virtual const fmatvec::SqrMat & | getdhdu () const |
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virtual int | getqSize () const |
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virtual int | getuSize () const |
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virtual void | computeM (const fmatvec::Vec &qG) |
| compute mass matrix More...
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virtual void | computeh (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute smooth right hand side More...
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virtual void | computedhdz (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute Jacobian for implicit integration More...
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virtual double | computeKineticEnergy (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
| compute kinetic energy More...
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virtual double | computeGravitationalEnergy (const fmatvec::Vec &qG) |
| compute gravitational energy More...
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virtual double | computeElasticEnergy (const fmatvec::Vec &qG) |
| compute elastic energy More...
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virtual fmatvec::Vec3 | getPosition (const fmatvec::Vec &qElement, double s) |
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virtual fmatvec::SqrMat3 | getOrientation (const fmatvec::Vec &qElement, double s) |
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virtual fmatvec::Vec3 | getVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
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virtual fmatvec::Vec3 | getAngularVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
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virtual fmatvec::Mat | computeJacobianOfMotion (const fmatvec::Vec &qG, double s) |
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void | setCurlRadius (double R1, double R2) |
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double | getl0 () const |
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fmatvec::Mat | computeJXqG (const fmatvec::Vec &qG, double x) |
| compute JACOBIAN of contact description in global coordinates More...
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Public Member Functions inherited from MBSimFlexibleBody::DiscretizationInterface |
| DiscretizationInterface () |
| constructor
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virtual | ~DiscretizationInterface () |
| destructor
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finite element for spatial beam using Cosserat model : rotation element for bending and torsion
- Author
- Thorsten Schindler
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Christian Käsbauer
-
Thomas Cebulla
- Date
- 2011-10-11 initial commit (Thorsten Schindler)
- Todo:
- bending/torsion in rhs TODO
Cosserat model based on H. Lang, J. Linn, M. Arnold: Multi-body dynamics simulation of geometrically exact Cosserat rods but with
- Kirchhoff assumption (-> less stiff)
- Cardan parametrisation (-> less problems with condition and drift for quaternion dae system)
- piecewise constant Darboux vector with evaluation according to I. Romero: The interpolation of rotations and its application to finite element models of geometrically exact beams