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MBSimFlexibleBody::FlexibleBody1s23BTA Class Reference

bending torsional axis More...

#include <flexible_body_1s_23_bta.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s23BTA:
MBSimFlexibleBody::FlexibleBody1s MBSimFlexibleBody::FlexibleBodyContinuum< double > MBSimFlexibleBody::FlexibleBody MBSim::Body MBSim::Object MBSim::Element fmatvec::Atom

Public Member Functions

 FlexibleBody1s23BTA (const std::string &name="")
 constructor More...
 
virtual ~FlexibleBody1s23BTA ()
 destructor
 
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 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
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
void setNumberElements (int n)
 sets size of positions and velocities
 
void setElastModuls (double E_, double G_)
 
void setDensity (double rho_)
 
void setCrossSectionalArea (double A_)
 
void setMomentsInertia (double Iyy_, double Izz_, double It_)
 
void setTorsionalDamping (double d)
 
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...
 
fmatvec::SqrMat3 getOrientation (double x)
 
- 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)
 
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)
 
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...
 
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)
 

Protected Member Functions

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

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 Iyy
 area moment of inertia
 
double Izz
 
double It
 
double rho
 density
 
double rc
 contour radius
 
double dTorsional
 damping
 
- 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
 

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)
 

Detailed Description

bending torsional axis

Author
Roland Zander
Thorsten Schindler
Date
2009-11-22 initial commit kernel_dev
Todo:
gravity, handling for contour-node information, tangents and AWK TODO

Constructor & Destructor Documentation

MBSimFlexibleBody::FlexibleBody1s23BTA::FlexibleBody1s23BTA ( const std::string &  name = "")

constructor

Parameters
nameof body

Member Function Documentation

void MBSimFlexibleBody::FlexibleBody1s23BTA::BuildElement ( const double &  sGlobal,
double &  sLocal,
int &  currentElement 
)
protected

detect current finite element

Parameters
globalparametrisation
localparametrisation
finiteelement number
fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s23BTA::getPositions ( double  x)

compute positions and angle at Lagrangian coordinate in local FE coordinates

Parameters
Lagrangiancoordinate
fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s23BTA::getVelocities ( double  x)

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

Parameters
Lagrangiancoordinate
void MBSimFlexibleBody::FlexibleBody1s23BTA::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::FlexibleBody1s23BTA::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::FlexibleBody1s23BTA::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.


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

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