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MBSimFlexibleBody::FlexibleBody1s33RCM Class Reference

spatial beam using Redundant Coordinate Method (RCM) More...

#include <flexible_body_1s_33_rcm.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s33RCM:
MBSimFlexibleBody::FlexibleBody1s MBSimFlexibleBody::FlexibleBodyContinuum< double > MBSimFlexibleBody::FlexibleBody MBSim::Body MBSim::Object MBSim::Element fmatvec::Atom

Public Member Functions

 FlexibleBody1s33RCM (const std::string &name="", bool openStructure=false)
 constructor More...
 
virtual void BuildElements ()
 references finite element coordinates to assembled coordinates
 
virtual void GlobalVectorContribution (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)
 insert 'local' information in global vectors More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat)
 insert 'local' information in global matrices More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat)
 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)
 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())
 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 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 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 fmatvec::Vec3 getAngles (double s)
 
virtual void init (InitStage stage)
 
virtual std::string getType () const
 
void initializeUsingXML (xercesc::DOMElement *element)
 
void setNumberElements (int n)
 
int getNumberElements ()
 
void setEGModuls (double E_, double G_)
 
void setDensity (double rho_)
 
void setCrossSectionalArea (double A_)
 
void setMomentsInertia (double I1_, double I2_, double I0_)
 
void setMaterialDamping (double epstD_, double k0D_)
 
void setGauss (int nGauss_)
 
void setCurlRadius (double R1_, double R2_)
 
void setLehrDamping (double epstL_, double k0L_)
 
fmatvec::Vector
< fmatvec::Fixed< 6 >, double > 
getPositions (double x)
 compute positions and angle at Lagrangian coordinate in local FE coordinates More...
 
fmatvec::Vector
< fmatvec::Fixed< 6 >, double > 
getVelocities (double x)
 compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates More...
 
double computePhysicalStrain (const double sGlobal)
 compute the physical strain of the element More...
 
void initInfo ()
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1s
 FlexibleBody1s (const std::string &name, bool openStructure)
 constructor: More...
 
virtual void plot ()
 
void setLength (double L_)
 
double getLength () const
 
bool getOpenStructure () const
 
void addFrame (Frame1s *frame)
 
virtual fmatvec::Vec3 getPosition (double s)
 
virtual fmatvec::SqrMat3 getOrientation (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 updateh (int k=0)
 
virtual void updateM ()
 
virtual void updatedhdz ()
 
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)
 

Private Member Functions

void BuildElement (const double &sGlobal, double &sLocal, int &currentElement)
 detect current finite element More...
 

Private Attributes

RevCardanPtr angle
 angle parametrisation
 
int Elements
 number of elements
 
double l0
 length of entire beam and finite elements
 
double E
 elastic modules
 
double G
 
double A
 area of cross-section
 
double I1
 area moment of inertia
 
double I2
 
double I0
 
double rho
 density
 
double R1
 radius of undeformed shape
 
double R2
 
double epstD
 damping
 
double k0D
 
double epstL
 
double k0L
 
bool initialised
 initialised FLAG
 
int nGauss
 number of Gauss points for rotational kinetic energy
 

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 MBSim::Body
virtual void addFrame (Frame *frame)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 
- 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
 

Detailed Description

spatial beam using Redundant Coordinate Method (RCM)

Author
Thorsten Schindler
Date
2009-04-17 initial commit kernel_dev (Thorsten Schindler)
2009-05-08 visualisation (Thorsten Schindler)
2009-07-16 splitted link / object right hand side (Thorsten Schindler)
2009-07-23 implicit integration (Thorsten Schindler)
2012-01-10 import / export position and velocity (Cebulla / Grundl)
2012-05-14 added Contour1sFlexible for perlchain example (Thomas Cebulla)
Todo:

gyroscopic accelerations TODO

inverse kinetics TODO

Constructor & Destructor Documentation

MBSimFlexibleBody::FlexibleBody1s33RCM::FlexibleBody1s33RCM ( const std::string &  name = "",
bool  openStructure = false 
)

constructor

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

Member Function Documentation

void MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElement ( const double &  sGlobal,
double &  sLocal,
int &  currentElement 
)
private

detect current finite element

Parameters
globalparametrisation
localparametrisation
finiteelement number
double MBSimFlexibleBody::FlexibleBody1s33RCM::computePhysicalStrain ( const double  sGlobal)

compute the physical strain of the element

Parameters
Lagrangiancoordinate
void MBSimFlexibleBody::FlexibleBody1s33RCM::exportPositionVelocity ( const std::string &  filenamePos,
const std::string &  filenameVel = std::string( ),
const int &  deg = 3,
const bool &  writePsFile = false 
)
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.

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getPositions ( double  x)

compute positions and angle at Lagrangian coordinate in local FE coordinates

Parameters
Lagrangiancoordinate
fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getVelocities ( double  x)

compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates

Parameters
Lagrangiancoordinate
void MBSimFlexibleBody::FlexibleBody1s33RCM::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::Mat locMat,
fmatvec::Mat gloMat 
)
virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33RCM::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::SymMat locMat,
fmatvec::SymMat gloMat 
)
virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33RCM::GlobalVectorContribution ( int  CurrentElement,
const fmatvec::Vec locVec,
fmatvec::Vec gloVec 
)
virtual

insert 'local' information in global vectors

Parameters
numberof finite element
localvector
globalvector

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33RCM::importPositionVelocity ( const std::string &  filenamePos,
const std::string &  filenameVel = std::string( ) 
)
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.

void MBSimFlexibleBody::FlexibleBody1s33RCM::initInfo ( )

initialise beam only for giving information with respect to state, number elements, length, (not for simulation)


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

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