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MBSimFlexibleBody::NurbsCurve1s Class Reference

contour 1s flexible with NURBS parametrization More...

#include <nurbs_curve_1s.h>

Inheritance diagram for MBSimFlexibleBody::NurbsCurve1s:
MBSimFlexibleBody::Contour1s MBSim::Contour MBSim::Element fmatvec::Atom

Public Member Functions

 NurbsCurve1s (const std::string &name)
 constructor More...
 
virtual ~NurbsCurve1s ()
 destructor
 
virtual std::string getType () const
 
virtual void computeRootFunctionPosition (MBSim::ContourFrame *frame)
 
virtual void computeRootFunctionFirstTangent (MBSim::ContourFrame *frame)
 
virtual void computeRootFunctionNormal (MBSim::ContourFrame *frame)
 
virtual void computeRootFunctionSecondTangent (MBSim::ContourFrame *frame)
 
virtual MBSim::ContactKinematicsfindContactPairingWith (std::string type0, std::string type1)
 
void setNormalRotationGrid (fmatvec::Vec normal_)
 
void initContourFromBody (InitStage stage)
 initialize NURBS curve More...
 
void computeCurveTranslations (bool update=false)
 interpolates the translations with node-data from body
 
void computeCurveVelocities (bool update=false)
 interpolates the velocities with the node-data from the body
 
void computeCurveAngularVelocities (bool update=false)
 interpolates the angular velocities with the node-data from the body
 
void computeCurveJacobians (bool trans=true, bool rot=true, bool update=false)
 interpolates the Jacobians of translation with the node-data from the body More...
 
- Public Member Functions inherited from MBSimFlexibleBody::Contour1s
 Contour1s (const std::string &name)
 constructor More...
 
void init (InitStage stage_)
 
void plot ()
 
virtual fmatvec::Vec3 evalKt (const fmatvec::Vec2 &zeta)
 
void setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &spineExtrusion)
 
std::shared_ptr
< OpenMBV::SpineExtrusion > & 
getOpenMBVSpineExtrusion ()
 
- Public Member Functions inherited from MBSim::Contour
virtual fmatvec::Vec3 evalPosition (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer1Wn (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer2Wn (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer1Wu (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer2Wu (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer1Wv (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalParDer2Wv (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalWrPS (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalWs (const fmatvec::Vec2 &zeta)
 
virtual fmatvec::Vec3 evalWt (const fmatvec::Vec2 &zeta)
 
- 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 Attributes

int Elements
 number of elements
 
int qSize
 number of DOFs
 
bool openStructure
 open or closed beam structure
 
double L
 length of entire curve
 
int degU
 interpolation degree
 
MBSim::NurbsCurve curveTranslations
 interpolated translations of the contour
 
MBSim::NurbsCurve curveVelocities
 interpolated velocities of the contour
 
MBSim::NurbsCurve curveAngularVelocities
 interpolated angular velocities of the contour
 
fmatvec::Vec3 normalRotationGrid
 closest normal on rotation grid to update direction of normal of nurbs-curve and to avoid jumping
 
std::vector< MBSim::NurbsCurveCurveJacobiansOfTranslation
 interpolated Jacobians of Translation of the contour
 
std::vector< MBSim::NurbsCurveCurveJacobiansOfRotation
 interpolated Jacobians of Rotation on the contour
 
- Protected Attributes inherited from MBSimFlexibleBody::Contour1s
std::shared_ptr
< OpenMBV::SpineExtrusion
openMBVSpineExtrusion
 body for the spine extrusion for visualisation of the 1s-body
 

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)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 

Detailed Description

contour 1s flexible with NURBS parametrization

Author
Thorsten Schindler
Kilian Grundl
Date
2011-10-16 initial commit (Thorsten Schindler)
2012-03-15 updateKinematicsForFrame and contact Jacobians (Cebulla / Schindler)
2013-02-04 contour now for 2D and 3D Cosserat beam (Zitzewitz / Cebulla / Schindler)
2013-08-19 using self implemented nurbs-curve

Constructor & Destructor Documentation

MBSimFlexibleBody::NurbsCurve1s::NurbsCurve1s ( const std::string &  name)
inline

constructor

Parameters
nameof contour

Member Function Documentation

void MBSimFlexibleBody::NurbsCurve1s::computeCurveJacobians ( bool  trans = true,
bool  rot = true,
bool  update = false 
)

interpolates the Jacobians of translation with the node-data from the body

Parameters
interpolatetranslational jacobian
interpolaterotational jacobian
void MBSimFlexibleBody::NurbsCurve1s::initContourFromBody ( InitStage  stage)

initialize NURBS curve

Parameters
stageof initialisation

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

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