20 #ifndef _FINITE_ELEMENT_1S_33_COSSERAT_ROTATION_H_
21 #define _FINITE_ELEMENT_1S_33_COSSERAT_ROTATION_H_
23 #include "mbsimFlexibleBody/discretization_interface.h"
24 #include "mbsimFlexibleBody/pointer.h"
25 #include "fmatvec/fmatvec.h"
27 namespace MBSimFlexibleBody {
81 virtual fmatvec::Vec3 getPosition(
const fmatvec::Vec& qElement,
double s);
82 virtual fmatvec::SqrMat3 getOrientation(
const fmatvec::Vec& qElement,
double s);
88 void setCurlRadius(
double R1,
double R2);
89 double getl0()
const {
return l0; }
virtual int getqSize() const
Definition: finite_element_1s_33_cosserat_rotation.h:71
fmatvec::Vec X
state at Lagrangian coordinate
Definition: finite_element_1s_33_cosserat_rotation.h:134
double E
Young's modulus.
Definition: finite_element_1s_33_cosserat_rotation.h:107
virtual void computeM(const fmatvec::Vec &qG)
compute mass matrix
Definition: finite_element_1s_33_cosserat_rotation.cc:107
double G
shear modulus
Definition: finite_element_1s_33_cosserat_rotation.h:112
virtual ~FiniteElement1s33CosseratRotation()
destructor
Definition: finite_element_1s_33_cosserat_rotation.cc:34
virtual void computedhdz(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute Jacobian for implicit integration
Definition: finite_element_1s_33_cosserat_rotation.cc:111
virtual void computeh(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute smooth right hand side
Definition: finite_element_1s_33_cosserat_rotation.cc:41
double k10
predefined bending k10: precurvature in t-b-plane k20: precurvature in t-n-plane
Definition: finite_element_1s_33_cosserat_rotation.h:124
virtual double computeGravitationalEnergy(const fmatvec::Vec &qG)
compute gravitational energy
Definition: finite_element_1s_33_cosserat_rotation.cc:119
double I1
geometrical moment of inertia
Definition: finite_element_1s_33_cosserat_rotation.h:117
CardanPtr ag
Cardan-object.
Definition: finite_element_1s_33_cosserat_rotation.h:144
double l0
length of finite element
Definition: finite_element_1s_33_cosserat_rotation.h:102
virtual int getuSize() const
Definition: finite_element_1s_33_cosserat_rotation.h:72
finite element for spatial beam using Cosserat model : rotation element for bending and torsion ...
Definition: finite_element_1s_33_cosserat_rotation.h:46
fmatvec::SqrMat dhdq
matrices for implicit integration
Definition: finite_element_1s_33_cosserat_rotation.h:139
fmatvec::Mat computeJXqG(const fmatvec::Vec &qG, double x)
compute JACOBIAN of contact description in global coordinates
Definition: finite_element_1s_33_cosserat_rotation.cc:139
virtual const fmatvec::Vec & geth() const
Definition: finite_element_1s_33_cosserat_rotation.h:68
discretization interface for flexible systems
Definition: discretization_interface.h:36
virtual double computeElasticEnergy(const fmatvec::Vec &qG)
compute elastic energy
Definition: finite_element_1s_33_cosserat_rotation.cc:88
virtual const fmatvec::SymMat & getM() const
Definition: finite_element_1s_33_cosserat_rotation.cc:103
virtual double computeKineticEnergy(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute kinetic energy
Definition: finite_element_1s_33_cosserat_rotation.cc:115
virtual const fmatvec::SqrMat & getdhdu() const
Definition: finite_element_1s_33_cosserat_rotation.h:70
virtual const fmatvec::SqrMat & getdhdq() const
Definition: finite_element_1s_33_cosserat_rotation.h:69
fmatvec::Vec h
global system description
Definition: finite_element_1s_33_cosserat_rotation.h:129