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MBSimFlexibleBody::FiniteElement1s21CosseratRotation Class Reference

finite element for planar beam using Cosserat model : rotation element for bending and torsion More...

#include <finite_element_1s_21_cosserat_rotation.h>

Inheritance diagram for MBSimFlexibleBody::FiniteElement1s21CosseratRotation:
MBSimFlexibleBody::DiscretizationInterface

Public Member Functions

 FiniteElement1s21CosseratRotation (double l0_, double E_, double G_, double I1_)
 constructor More...
 
virtual ~FiniteElement1s21CosseratRotation ()
 destructor
 
virtual const fmatvec::SymMatgetM () const
 
virtual const fmatvec::Vecgeth () const
 
virtual const fmatvec::SqrMatgetdhdq () const
 
virtual const fmatvec::SqrMatgetdhdu () const
 
virtual int getqSize () const
 
virtual int getuSize () const
 
virtual void computeM (const fmatvec::Vec &qG)
 compute mass matrix More...
 
virtual void computeh (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute smooth right hand side More...
 
virtual void computedhdz (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute Jacobian for implicit integration More...
 
virtual double computeKineticEnergy (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 compute kinetic energy More...
 
virtual double computeGravitationalEnergy (const fmatvec::Vec &qG)
 compute gravitational energy More...
 
virtual double computeElasticEnergy (const fmatvec::Vec &qG)
 compute elastic energy More...
 
virtual fmatvec::Vec3 getPosition (const fmatvec::Vec &qElement, double s)
 
virtual fmatvec::SqrMat3 getOrientation (const fmatvec::Vec &qElement, double s)
 
virtual fmatvec::Vec3 getVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s)
 
virtual fmatvec::Vec3 getAngularVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s)
 
virtual fmatvec::Mat getJacobianOfMotion (const fmatvec::Vec &qElement, double s)
 
void setCurlRadius (double R1)
 
double getl0 () const
 
fmatvec::Mat computeJXqG (const fmatvec::Vec &qG, double x)
 compute JACOBIAN of contact description in global coordinates More...
 
- Public Member Functions inherited from MBSimFlexibleBody::DiscretizationInterface
 DiscretizationInterface ()
 constructor
 
virtual ~DiscretizationInterface ()
 destructor
 

Private Member Functions

 FiniteElement1s21CosseratRotation (const FiniteElement1s21CosseratRotation &)
 
FiniteElement1s21CosseratRotationoperator= (const FiniteElement1s21CosseratRotation &)
 

Private Attributes

double l0
 length of finite element
 
double E
 Young's modulus.
 
double G
 shear modulus
 
double I1
 geometrical moment of inertia
 
double k10
 predefined bending k10: precurvature in t-b-plane k20: precurvature in t-n-plane
 
fmatvec::Vec h
 global system description
 
fmatvec::Vec X
 state at Lagrangian coordinate
 
fmatvec::SqrMat dhdq
 matrices for implicit integration
 
fmatvec::SqrMat dhdu
 

Detailed Description

finite element for planar beam using Cosserat model : rotation element for bending and torsion

Author
Thomas Cebulla
Thorsten Schindler
Robert von Zitzewitz
Thomas Cebulla
Date
2012-12-14 initial commit (Thomas Cebulla)
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

Constructor & Destructor Documentation

MBSimFlexibleBody::FiniteElement1s21CosseratRotation::FiniteElement1s21CosseratRotation ( double  l0_,
double  E_,
double  G_,
double  I1_ 
)

constructor

Parameters
lengthof finite element
Young'smodulus
shearmodulus
firstarea moment of inertia
secondarea moment of inertia
torsionalmoment of inertia
cardanobject

Member Function Documentation

void MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computedhdz ( const fmatvec::Vec q,
const fmatvec::Vec u 
)
inlinevirtual

compute Jacobian for implicit integration

Parameters
generalisedpositions
generalisedvelocities

Implements MBSimFlexibleBody::DiscretizationInterface.

double MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeElasticEnergy ( const fmatvec::Vec q)
virtual

compute elastic energy

Parameters
generalisedpositions

Implements MBSimFlexibleBody::DiscretizationInterface.

double MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeGravitationalEnergy ( const fmatvec::Vec q)
inlinevirtual

compute gravitational energy

Parameters
generalisedpositions

Implements MBSimFlexibleBody::DiscretizationInterface.

void MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeh ( const fmatvec::Vec q,
const fmatvec::Vec u 
)
virtual

compute smooth right hand side

Parameters
generalisedpositions
generalisedvelocities

Implements MBSimFlexibleBody::DiscretizationInterface.

Mat MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeJXqG ( const fmatvec::Vec qG,
double  x 
)

compute JACOBIAN of contact description in global coordinates

Parameters
globalcoordinates
LAGRANGIANparameter
double MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeKineticEnergy ( const fmatvec::Vec q,
const fmatvec::Vec u 
)
inlinevirtual

compute kinetic energy

Parameters
generalisedpositions
generalisedvelocities

Implements MBSimFlexibleBody::DiscretizationInterface.

void MBSimFlexibleBody::FiniteElement1s21CosseratRotation::computeM ( const fmatvec::Vec q)
inlinevirtual

compute mass matrix

Parameters
generalisedpositions

Implements MBSimFlexibleBody::DiscretizationInterface.

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s21CosseratRotation::getdhdq ( ) const
inlinevirtual
Returns
Jacobian of implicit integration regarding position

Implements MBSimFlexibleBody::DiscretizationInterface.

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s21CosseratRotation::getdhdu ( ) const
inlinevirtual
Returns
Jacobian of implicit integration regarding velocity

Implements MBSimFlexibleBody::DiscretizationInterface.

const fmatvec::Vec & MBSimFlexibleBody::FiniteElement1s21CosseratRotation::geth ( ) const
inlinevirtual
Returns
smooth right hand side of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

const fmatvec::SymMat & MBSimFlexibleBody::FiniteElement1s21CosseratRotation::getM ( ) const
inlinevirtual
Returns
mass matrix of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

int MBSimFlexibleBody::FiniteElement1s21CosseratRotation::getqSize ( ) const
inlinevirtual
Returns
dimension of positions

Implements MBSimFlexibleBody::DiscretizationInterface.

int MBSimFlexibleBody::FiniteElement1s21CosseratRotation::getuSize ( ) const
inlinevirtual
Returns
dimension of velocities

Implements MBSimFlexibleBody::DiscretizationInterface.


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

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