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MBSim Namespace Reference

namespace MBSim More...

Classes

class  BilateralConstraint
 basic bilateral force law on acceleration level for constraint description More...
 
class  BilateralImpact
 basic bilateral force law on velocity level for constraint description More...
 
class  FrictionForceLaw
 basic friction force law on acceleration level for constraint description More...
 
class  FrictionImpactLaw
 basic friction force law on velocity level for constraint description More...
 
class  GeneralizedForceLaw
 basic force law on acceleration level for constraint description More...
 
class  GeneralizedImpactLaw
 basic force law on velocity level for constraint description More...
 
class  MaxwellUnilateralConstraint
 A force law that computes the normal force of many contact kinematics based on the Maxwell-Force-Law. More...
 
class  PlanarCoulombFriction
 basic planar friction force law on acceleration level for constraint description More...
 
class  PlanarCoulombImpact
 basic planar friction force law on velocity level for constraint description More...
 
class  PlanarStribeckFriction
 planar Stribeck friction force law on acceleration level for constraint description More...
 
class  PlanarStribeckImpact
 planar Stribeck friction force law on velocity level for constraint description More...
 
class  RegularizedBilateralConstraint
 basic regularized bilateral force law on acceleration level for constraint description More...
 
class  RegularizedPlanarFriction
 
class  RegularizedSpatialFriction
 
class  RegularizedUnilateralConstraint
 basic regularized unilateral force law on acceleration level for constraint description More...
 
class  SpatialCoulombFriction
 basic spatial friction force law on acceleration level for constraint description More...
 
class  SpatialCoulombImpact
 basic spatial friction force law on velocity level for constraint description More...
 
class  SpatialStribeckFriction
 spatial Stribeck friction force law on acceleration level for constraint description More...
 
class  SpatialStribeckImpact
 spatial Stribeck friction force law on velocity level for constraint description More...
 
class  UnilateralConstraint
 basic unilateral force law on acceleration level for constraint description More...
 
class  UnilateralNewtonImpact
 basic unilateral force law on velocity level for constraint description More...
 
class  Constraint
 Class for constraints between generalized coordinates of objects. More...
 
class  GeneralizedAccelerationConstraint
 
class  GeneralizedConnectionConstraint
 
class  GeneralizedConstraint
 Class for generalized constraints. More...
 
class  GeneralizedDualConstraint
 Class for dual generalized constraints. More...
 
class  GeneralizedGearConstraint
 
class  GeneralizedPositionConstraint
 
class  GeneralizedVelocityConstraint
 
class  JointConstraint
 Joint contraint. More...
 
class  ContactKinematicsCircleCircle
 pairing outer circle side to outer circle side More...
 
class  ContactKinematicsCircleExtrusion
 pairing outer circle side to extrusion More...
 
class  ContactKinematicsCircleFrustum
 contact kinematics for unilateral contact between circle and frustum with at most one contact point More...
 
class  ContactKinematicsCircleLine
 pairing circle outer surface to line More...
 
class  ContactKinematicsCircleLineSegment
 pairing circle outer surface to line More...
 
class  ContactKinematicsCirclePlanarContour
 pairing outer circle side to planar contour More...
 
class  ContactKinematicsCirclePlanarFrustum
 pairing circle outer side to planar frustum More...
 
class  ContactKinematicsCirclePlane
 pairing circle outer side to plane More...
 
class  ContactKinematicsCompoundContourCompoundContour
 contact paring between set of contours and set of contours More...
 
class  ContactKinematicsCompoundContourContour
 pairing of arbitrary contour and set of contours More...
 
class  ContactKinematics
 basic class for contact kinematical calculations More...
 
class  ContactKinematicsEdgeEdge
 pairing edge (bounded line) to edge More...
 
class  ContactKinematicsLinePlanarContour
 pairing Line to PlanarContour More...
 
class  edgePolyFrustum
 Function describing the scalar product between normal of frustum point and difference between frustum point and point on line defined by one parameter t. More...
 
class  edgePolyFrustumCriteria
 
class  ContactKinematicsPlatePolynomialFrustum
 class for contact kinematics between convex frustum and an plate More...
 
class  ContactKinematicsPointCircle
 pairing point to circesolid More...
 
class  ContactKinematicsPointContourInterpolation
 pairing point to contour interpolation; More...
 
class  ContactKinematicsPointExtrusion
 pairing point to extrusion More...
 
class  ContactKinematicsPointFrustum
 pairing point to frustum surface More...
 
class  ContactKinematicsPointLine
 pairing point to line More...
 
class  ContactKinematicsPointLineSegment
 pairing point to line segment More...
 
class  ContactKinematicsPointPlanarContour
 pairing point to planar contour More...
 
class  ContactKinematicsPointPlane
 pairing point to plane More...
 
class  ContactKinematicsPointPlaneWithFrustum
 pairing point to plane More...
 
class  ContactKinematicsPointPlate
 pairing point to plate (bounded plane) More...
 
class  projectPointAlongNormal
 function that is zero for a height-coordinate of the polynomial frustum on which the normal on that point points towards the given outer point More...
 
class  projectPointAlongNormalJacobian
 the Jacobian function for the projectAlongNormal Function More...
 
class  ContactKinematicsPointPolynomialFrustum
 class for contact kinematics between convex frustum and an plate More...
 
class  ContactKinematicsPointSpatialContour
 pairing point to spatial contour More...
 
class  ContactKinematicsPointSphere
 pairing point to sphere More...
 
class  ContactKinematicsSphereFrustum
 pairing sphere to frustum More...
 
class  ContactKinematicsSpherePlane
 pairing sphere to plane More...
 
class  ContactKinematicsSpherePlate
 pairing sphere to plate More...
 
class  PolyFurstumSphereContact
 
class  PolyFurstumSphereContactJacobian
 
class  ContactKinematicsSpherePolynomialFrustum
 class for contact kinematics between convex frustum and a sphere More...
 
class  ContactKinematicsSphereSphere
 pairing sphere to sphere More...
 
class  Circle
 circular contour with contact possibility from outside and inside and binormal in direction of the third column of the contour reference frame More...
 
class  CompoundContour
 contour consisting of primitive contour elements More...
 
class  Contour
 basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies More...
 
class  ContourInterpolation
 Basis-Class for Contour interpolation between Point s, standard contact Point-ContourInterpolation is implemented special interpolations only need to provide (as derived class) the pure virtuals predefined here. More...
 
class  ContourQuad
 Quad for 3D interpolation. More...
 
class  Cuboid
 Cuboid with 8 vertices, 12 edges and 6 faces. More...
 
class  Edge
 RigidContour Edge. More...
 
class  Frustum
 frustum with axis in direction of second column of contour reference frame More...
 
class  Line
 unbounded line with constant normal More...
 
class  LineSegment
 line segment with two bounds More...
 
class  Function
 
class  PlanarContour
 analytical description of contours with one contour parameter More...
 
class  PlanarFrustum
 planar slice of a frustum More...
 
class  Plane
 plane without borders More...
 
class  PlaneWithFrustum
 plane without borders and a frustum on reference kos More...
 
class  Plate
 RigidContour Plate. More...
 
class  Point
 most primitive contour: the point (no extention) More...
 
class  PolynomialFrustum
 Frustum contour with a polynomial radius over height course. More...
 
class  ContactPolyfun
 this class denotes polynomial equation like this:a0+a1*x+a2*x^2+...+an*x^n=rhs More...
 
class  RigidContour
 basic class for rigid contours More...
 
class  Room
 Room with 6 faces pointing inwards. More...
 
class  SpatialContour
 analytical description of contours with one contour parameter More...
 
class  Sphere
 sphere More...
 
class  DynamicSystem
 dynamic system as topmost hierarchical level More...
 
class  DynamicSystemSolver
 solver interface for modelling and simulation of dynamic systems More...
 
class  Element
 basic class of MBSim mainly for plotting More...
 
class  Environment
 basic singleton (see GAMMA et al.) class to capsulate environment variables for XML More...
 
class  MBSimEnvironment
 singleton class (see GAMMA et al.) to capsulate environment variables for XML multibody systems More...
 
class  ContourFrame
 
class  FixedContourFrame
 
class  FixedRelativeFrame
 cartesian frame on rigid bodies More...
 
class  FloatingContourFrame
 tbd More...
 
class  FloatingRelativeContourFrame
 
class  FloatingRelativeFrame
 cartesian frame on rigid bodies More...
 
class  Frame
 cartesian frame on bodies used for application of e.g. links and loads More...
 
class  AbsoluteValueFunction
 
class  AbsoluteValueFunction< Ret(Arg)>
 
class  BidirectionalFunction
 
class  BidirectionalFunction< Ret(Arg)>
 
class  BoundedFunction
 
class  BoundedFunction< Ret(Arg)>
 
class  CompositeFunction
 
class  CompositeFunction< Ret(Argo(double))>
 
class  CompositeFunction< Ret(Argo(Argi))>
 
class  ConstantFunction
 
class  ConstantFunction< Ret(Arg)>
 
class  DistanceFunction
 
class  DistanceFunction< Ret(Arg)>
 class for distances and root functions of contact problems More...
 
class  FuncPairConeSectionCircle
 base root function for planar pairing ConeSection and Circle More...
 
class  FuncPairEllipseCircle
 root function for planar pairing Ellipse and Circle More...
 
class  FuncPairHyperbolaCircle
 root function for planar pairing Hyperbola and Circle More...
 
class  FuncPairPlanarContourCircle
 root function for pairing PlanarContour and Circle More...
 
class  FuncPairPlanarContourLine
 root function for pairing PlanarContour and Line More...
 
class  FuncPairPlanarContourPoint
 root function for pairing PlanarContour and Point More...
 
class  FuncPairPointContourInterpolation
 root function for pairing ContourInterpolation and Point More...
 
class  FuncPairSpatialContourPoint
 root function for pairing SpatialContour and Point More...
 
class  JacobianPairConeSectionCircle
 base Jacobian of root function for planar pairing ConeSection and Circle More...
 
class  JacobianPairEllipseCircle
 Jacobian of root function for planar pairing Ellipse and Circle. More...
 
class  JacobianPairHyperbolaCircle
 Jacobian of root function for planar pairing Hyperbola and Circle. More...
 
class  PolarContourFunction
 
class  ContinuedFunction
 
class  ContinuedFunction< Ret(Arg)>
 
class  FourierFunction
 
class  FourierFunction< Ret(Arg)>
 
class  FunctionBase
 
class  IdentityFunction
 
class  IdentityFunction< Ret(Arg)>
 
class  LinearTranslation
 
class  RotationAboutAxesXY
 
class  RotationAboutAxesXYZ
 rotation class for rotation about all three axis using the cardan description More...
 
class  RotationAboutAxesXYZMapping
 
class  RotationAboutAxesXYZTransformedMapping
 
class  RotationAboutAxesXZ
 
class  RotationAboutAxesYZ
 
class  RotationAboutAxesZXZ
 
class  RotationAboutAxesZXZMapping
 
class  RotationAboutAxesZXZTransformedMapping
 
class  RotationAboutAxesZYX
 
class  RotationAboutAxesZYXMapping
 
class  RotationAboutFixedAxis
 
class  RotationAboutXAxis
 
class  RotationAboutYAxis
 
class  RotationAboutZAxis
 
class  TranslationAlongAxesXY
 
class  TranslationAlongAxesXYZ
 
class  TranslationAlongAxesXZ
 
class  TranslationAlongAxesYZ
 
class  TranslationAlongFixedAxis
 
class  TranslationAlongXAxis
 
class  TranslationAlongYAxis
 
class  TranslationAlongZAxis
 
class  ConstantInfluenceFunction
 
class  FlexibilityInfluenceFunction
 
class  InfluenceFunction
 function describing the influence between the deformations on a body More...
 
class  LinearElasticFunction
 tbd More...
 
class  LinearRegularizedBilateralConstraint
 function describing a linear relationship between the input relative distance / velocity and the output for a bilateral constraint More...
 
class  LinearRegularizedCoulombFriction
 function describing a linear regularized relationship between the input relative velocity and the output for Coulomb friction More...
 
class  LinearRegularizedStribeckFriction
 function describing a linear regularized relationship between the input relative velocity and the output for Stribeck friction More...
 
class  LinearRegularizedUnilateralConstraint
 function describing a linear relationship between the input relative distance / velocity and the output for a unilateral constraint More...
 
class  LinearSpringDamperForce
 function describing a linear relationship between the input deflection / relative velocity and the output for a spring More...
 
class  NonlinearSpringDamperForce
 function describing a nonlinear relationship between the input deflection / relative velocity and the output for a spring More...
 
class  LinearFunction
 
class  LinearFunction< Ret(Arg)>
 
class  ModuloFunction
 
class  ModuloFunction< Ret(Arg)>
 
class  LimitedFunction
 
struct  LimitedFunction< Ret(Arg)>
 
class  PiecewiseDefinedFunction
 
class  PiecewiseDefinedFunction< Ret(double)>
 
class  PiecewiseDefinedFunction< Ret(Arg)>
 
class  PiecewisePolynomFunction
 
class  PiecewisePolynomFunction< Ret(Arg)>
 class for piecewise-polynomials and cubic spline interpolation More...
 
class  PolynomFunction
 
class  PolynomFunction< Ret(Arg)>
 
class  QuadraticFunction
 
class  QuadraticFunction< Ret(Arg)>
 
class  SignumFunction
 
class  SignumFunction< Ret(Arg)>
 
class  SinusoidalFunction
 
class  SinusoidalFunction< Ret(Arg)>
 
class  StateDependentFunction
 
class  StepFunction
 
class  StepFunction< Ret(Arg)>
 
class  FromCasadi
 
class  FromCasadi< fmatvec::Vector< Col, double > >
 
class  FromCasadi< fmatvec::RowVector< Col, double > >
 
class  FromCasadi< fmatvec::Matrix< fmatvec::General, Row, Col, double > >
 
class  FromCasadi< double >
 
class  SymbolicFunction
 
class  SymbolicFunction< Ret(Arg)>
 
class  SymbolicFunction< Ret(Arg1, Arg2)>
 
class  TabularFunction
 
class  TabularFunction< Ret(Arg)>
 
class  TimeDependentFunction
 
class  TwoDimensionalPiecewisePolynomFunction
 
class  TwoDimensionalPiecewisePolynomFunction< Ret(Arg1, Arg2)>
 
class  TwoDimensionalTabularFunction
 
class  TwoDimensionalTabularFunction< Ret(Arg1, Arg2)>
 
class  VectorValuedFunction
 
class  VectorValuedFunction< Ret(double)>
 
class  VectorValuedFunction< Ret(Arg)>
 
class  Graph
 class for tree-structured mechanical systems with recursive and flat memory mechanism More...
 
class  Group
 group ingredients do not depend on each other More...
 
class  Contact
 class for contacts More...
 
class  ContourLink
 contour link More...
 
class  DirectionalSpringDamper
 A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames. More...
 
class  DualRigidBodyLink
 
class  ElasticJoint
 class for elastic joints More...
 
class  FloatingFrameLink
 floating frame link More...
 
class  FrameLink
 frame link More...
 
class  Gearing
 
class  GeneralizedAccelerationExcitation
 
class  GeneralizedConnection
 
class  GeneralizedElasticConnection
 
class  GeneralizedFriction
 
class  GeneralizedGear
 
class  GeneralizedKinematicExcitation
 
class  GeneralizedPositionExcitation
 
class  GeneralizedSpringDamper
 
class  GeneralizedVelocityExcitation
 
class  IsotropicRotationalSpringDamper
 Isotropic rotational spring damper force law. This class connects two frames and applies a torque which depends on the relative rotation and velocity between the two frames. Not considered: torsion around the first axis / rotation more than 180° More...
 
class  Joint
 class for connections: constraints on frames More...
 
class  InverseKineticsJoint
 
class  KineticExcitation
 kinetic excitations given by time dependent functions More...
 
class  Link
 general link to one or more objects More...
 
class  MaxwellContact
 class for contacts More...
 
class  RigidBodyLink
 
class  SingleContact
 class for contacts More...
 
class  SpringDamper
 A spring damper force law. This class connects two frames and applies a force in it, which depends in the distance and relative velocity between the two frames. More...
 
class  MBSimError
 basic error class for mbsim More...
 
class  ModellingInterface
 Interface for models of arbitrary domains, e.g. electrical components. More...
 
class  CriteriaFunction
 Mother class for different criterias that are fulfilled or not. More...
 
class  GlobalCriteriaFunction
 This criteria function class applies the infinity norm globally for complete vectors thus it has one tolerance and a list of "results" for each step. More...
 
class  LocalCriteriaFunction
 This criteria function class applies the infinity norm locally for arbitrary combinations of sub-vectors of the complete vector. It has different tolerances for the different sub-vectors and a list of "result"-lists for each step and each "result" of a sub-vector. More...
 
class  GlobalResidualCriteriaFunction
 This criteria function class applies the infinity norm globally on the complete vector and compares it with zero (i.e. a residual criteria) More...
 
class  LocalResidualCriteriaFunction
 This criteria function class applies the infinity norm on single indices sets (each with another tolerance) and compares it with zero (i.e. a residual criteria) More...
 
class  GlobalShiftCriteriaFunction
 This criteria function class applies the infinity norm globally on the difference between the complete vector of the current step and the complete vector of the step before and compares it with zero (i.e. a shift criteria) More...
 
class  LocalShiftCriteriaFunction
 This criteria function class applies the infinity norm on single indices sets (each with another tolerance) and compares it with zero (i.e. a residual criteria) More...
 
class  DampingFunction
 
class  StandardDampingFunction
 
class  LCPReformulationFunction
 
class  LCPNewtonReformulationFunction
 
class  LCPFixpointReformulationFunction
 
class  LinearComplementarityJacobianFunction
 
class  NewtonJacobianFunction
 base class for square Jacobians used for the newton method More...
 
class  NumericalNewtonJacobianFunction
 class to compute the Jacobian matrix for the newton method numerically More...
 
class  GaussLegendreQuadrature
 
class  LemkeAlgorithm
 
class  LinearComplementarityProblem
 class to solve a linear complementarity problem More...
 
class  MultiDimensionalFixpointSolver
 Fixpoint-Solver for multi-dimensional fixpoint-finding. More...
 
class  MultiDimensionalNewtonMethod
 Newton method for multidimensional root finding. More...
 
class  NurbsCurve
 class that copies the nurbs++-library using the fmatvec as a basis-math-library More...
 
class  NurbsSurface
 A class to represent a NURBS surface. More...
 
class  DOMEvalExceptionStack
 
class  DOMEvalExceptionWrongType
 
class  ObjectFactory
 
struct  Allocate
 
struct  Deallocate
 
struct  GetSingleton
 
struct  DeallocateSingleton
 
class  ObjectFactoryRegisterClassHelper
 
class  ObjectFactoryRegisterClassHelperAsSingleton
 
struct  AllocateBase
 
struct  DeallocateBase
 
class  Body
 base class for all mechanical bodies with mass and generalised coordinates More...
 
class  Object
 class for all objects having own dynamics and mass More...
 
class  RigidBody
 rigid bodies with arbitrary kinematics More...
 
class  AbsoluteKinematicsObserver
 
class  CartesianCoordinatesObserver
 
class  CoordinatesObserver
 
class  CylinderCoordinatesObserver
 
class  KinematicsObserver
 
class  NaturalCoordinatesObserver
 
class  Observer
 
class  RelativeKinematicsObserver
 
class  RigidBodyGroupObserver
 
class  RigidBodyObserver
 
class  Solver
 solver-interface for dynamic systems More...
 
struct  RGBColor
 defines additive color using values for each color between [0,1] More...
 
class  RegulaFalsi
 Regular Falsi for one-dimensional root-finding. More...
 
class  MultiDimFixPointIteration
 FixpointIteration for multi-dimensional fixpoint-finding. More...
 
class  NewtonMethod
 Newton method for one-dimensional root-finding. More...
 
class  MultiDimNewtonMethod
 Newton method for multi-dimensional root-finding. More...
 
class  OpenMBVBody
 
class  OpenMBVDynamicColoredBody
 
class  OpenMBVArrow
 
class  OpenMBVFrame
 
class  OpenMBVSphere
 
class  OpenMBVLine
 
class  OpenMBVPlane
 
class  OpenMBVCuboid
 
class  OpenMBVCircle
 
class  OpenMBVFrustum
 
class  OpenMBVExtrusion
 
class  OpenMBVCoilSpring
 
class  OpenMBVIndexedFaceSet
 
class  PlanarContactSearch
 general class for contact search with respect to one contour-parameter More...
 
class  SpatialContactSearch
 general class for contact search with respect to two contour-parameter More...
 
class  StopWatch
 
class  ToDouble
 
class  ToDouble< double >
 
class  ToDouble< fmatvec::Vector< Col, double > >
 
class  ToDouble< fmatvec::RowVector< Row, double > >
 
class  FromMatStr
 
class  FromMatStr< double >
 
class  FromDouble
 
class  FromDouble< double >
 
class  FromVecV
 
class  FromVecV< double >
 

Typedefs

typedef int Index
 

Functions

const MBXMLUtils::NamespaceURI MBSIM ("http://www.mbsim-env.de/MBSim")
 
 MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< Vec3(double(VecV))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
CompositeFunction< Vec3(VecV(VecV))>
CompositeFunction< Vec3(VecV(double))> 
MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< RotMat3(double(VecV))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
CompositeFunction< Vec3(VecV(VecV))>
CompositeFunction< Vec3(VecV(double))>
CompositeFunction< RotMat3(VecV(VecV))> 
MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< RotMat3(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
CompositeFunction< Vec3(VecV(VecV))>
CompositeFunction< Vec3(VecV(double))>
CompositeFunction< RotMat3(VecV(VecV))>
CompositeFunction< RotMat3(VecV(double))> 
MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< double(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
CompositeFunction< Vec3(VecV(VecV))>
CompositeFunction< Vec3(VecV(double))>
CompositeFunction< RotMat3(VecV(VecV))>
CompositeFunction< RotMat3(VecV(double))>
CompositeFunction< double(VecV(double))> 
MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< VecV(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
casadi::SX jac (const casadi::SX &f, const casadi::SX &arg)
 A fmatvec like jacobian using casadi.
 
casadi::DM c (const double &x)
 convert double to casadi::DM
 
template<class Col >
casadi::DM c (const fmatvec::Vector< Col, double > &x)
 convert fmatvec::Vector to casadi::DM
 
template<class T >
c (const casadi::DM &x)
 convert casadi::DM any value
 
std::ostream & operator<< (std::ostream &o, const LinearComplementarityProblem::LCPSolvingStrategy &strategy)
 
std::ostream & operator<< (std::ostream &o, const LinearComplementarityProblem::JacobianType &jacobianType)
 
Vec fslvLUMDNW (const SqrMat &a, const Vec &b, int &info)
 
Vec fslvLSMDNW (const SqrMat &a, const Vec &b, int &info)
 
double proxCN (const double arg, const double boundary=0)
 computes the prox-function for the set of real numbers that has a lower boundary : )boundary , infinity] More...
 
double proxCT2D (const double arg, const double laNmue)
 
Vec proxCT3D (const Vec &arg, const double laNmue)
 
void knotAveragingClosed (const Vec &uk, int deg, Vec &U)
 generates a knot vector using the averaging technique for interpolation with closed curve. More...
 
void basisFuns (double u, int span, int deg, const Vec &U, Vec &funs)
 
void dersBasisFuns (int n, double u, int span, int deg, const Vec &U, Mat &ders)
 
void binomialCoef (Mat &Bin)
 Setup a matrix containing binomial coefficients. More...
 
void knotAveraging (const Vec &uk, int deg, Vec &U)
 
int surfMeshParamsClosedU (const GeneralMatrix< fmatvec::Vec3 > &Q, Vec &uk, Vec &vl, int degU)
 
int surfMeshParams (const GeneralMatrix< fmatvec::Vec3 > &Q, Vec &uk, Vec &vl)
 
void registerClass_internal (const FQN &name, const AllocateBase *alloc, const DeallocateBase *dealloc)
 
void deregisterClass_internal (const FQN &name, const AllocateBase *alloc)
 
std::string fixXMLLocalName (std::string name)
 
std::ostream & operator<< (std::ostream &ofstream, const RGBColor &rgbColor)
 
double computeAngleOnUnitCircle (const fmatvec::Vec3 &r)
 computes azimuthal angle More...
 
fmatvec::Vec2 computeAnglesOnUnitSphere (const fmatvec::Vec3 &r)
 computes azimuthal and polar angles More...
 
ContactKinematicsfindContactPairingRigidRigid (const char *contour0, const char *contour1)
 defines contact kinematics between two contours More...
 
double macheps ()
 
double epsroot ()
 
Vec fslvLU (const SqrMat &a, const Vec &b)
 
Vec fslvLS (const SqrMat &a, const Vec &b)
 
SqrMat BasicRotAKIx (double phi)
 Basic Rotations (see Script TM Grundlagenfach) More...
 
SqrMat BasicRotAKIy (double phi)
 
SqrMat BasicRotAKIz (double phi)
 
SqrMat BasicRotAIKx (double phi)
 
SqrMat BasicRotAIKy (double phi)
 
SqrMat BasicRotAIKz (double phi)
 
SqrMat Cardan2AIK (double alpha, double beta, double gamma)
 Cardan parametrisation (x y z): calculate AIK matrix from angles (alpha, beta, gamma)
 
SqrMat Euler2AIK (double psi, double theta, double phi)
 Euler parametrisation: calculate AIK matrix from angles (psi, theta, phi); psi: Preazession; theta: Nutation; phi: Rotation.
 
Vec AIK2ParametersZXY (const fmatvec::SqrMat &AIK)
 ZXY parametrisation (z -x -y) with parameters (angles) = [al; be; ga] first rotation: z-Axis (ga), 2nd rotation: x-Axis (al), 3rd rotation: y-Axis (be) calculates angles (alpha, beta, gamma) from rotation matrix AIK.
 
Vec calcParametersDotZXY (const fmatvec::SqrMat &AIK, const fmatvec::Vec &KomegaK)
 kinematic equations to calculate [al_dot; be_dot; ga_dot] from AIK and KomegaK
 
template<class Row >
fmatvec::Vector< Row, double > AIK2Cardan (const fmatvec::SquareMatrix< Row, double > &AIK)
 Cardan parametrisation (x y z): calculate angles (alpha, beta, gamma) from rotation matrix AKI or AIK.
 
template<class Row >
fmatvec::Vector< Row, double > AKI2Cardan (const fmatvec::SquareMatrix< Row, double > &AKI)
 
template<class Row >
fmatvec::Vector< Row, double > AIK2RevCardan (const fmatvec::SquareMatrix< Row, double > &AIK)
 reversed Cardan parametrisation (z y x): calculate angles (alpha, beta, gamma) from rotation matrix AKI or AIK
 
template<class Row >
fmatvec::Vector< Row, double > AKI2RevCardan (const fmatvec::SquareMatrix< Row, double > &AKI)
 
std::string numtostr (int i)
 
std::string numtostr (double d)
 
double degtorad (double alpha)
 
double radtodeg (double phi)
 
fmatvec::Vec degtorad (fmatvec::Vec alpha)
 
fmatvec::Vec radtodeg (fmatvec::Vec phi)
 
double sign (double x)
 
Vec tildetovec (const SqrMat &A)
 
double ArcTan (double x, double y)
 calculates planar angle in [0,2] with respect to Cartesian coordinates of: Arc Tangent (y/x) More...
 
Mat cs2Mat (cs *sparseMat)
 calculate a fmatvec::Mat out of a sparse matrix
 
Vec3 computeTangential (const Vec3 &n)
 
template<class Type , class Row , class Col >
std::string numtostr (fmatvec::Matrix< Type, Row, Col, double > m)
 
template<class T >
std::string toStr (const T &val)
 
xercesc::DOMNode * toXML (const std::string &str, xercesc::DOMNode *parent)
 
xercesc::DOMNode * toXML (int i, xercesc::DOMNode *parent)
 
xercesc::DOMNode * toXML (unsigned int i, xercesc::DOMNode *parent)
 
xercesc::DOMNode * toXML (double d, xercesc::DOMNode *parent)
 
template<class T >
xercesc::DOMNode * toXML (const std::vector< T > &x, xercesc::DOMNode *parent)
 
template<class Row >
xercesc::DOMNode * toXML (const fmatvec::Vector< Row, double > &x, xercesc::DOMNode *parent)
 
template<class Type , class Row , class Col >
xercesc::DOMNode * toXML (const fmatvec::Matrix< Type, Row, Col, double > &A, xercesc::DOMNode *parent)
 
template<class T >
std::string funcExt ()
 
template<>
std::string funcExt< double > ()
 
template<class T >
void addElementText (xercesc::DOMElement *parent, const MBXMLUtils::FQN &name, const T &value)
 
fmatvec::Vec3 computeTangential (const fmatvec::Vec3 &n)
 

Variables

double tP = 20.0
 
bool gflag = false
 
CompositeFunction< Vec3(VecV(VecV))> MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE (MBSIM, CompositeFunction< Vec3(double(double))>) MBSIM_OBJECTFACTORY_REGISTERCLASS_AND_INSTANTIATE(MBSIM
 
Range< Var, Vari02 (0, 2)
 
const RGBColor RED = {1, 0, 0}
 
const RGBColor GREEN = {0, 1, 0}
 
const RGBColor BLUE = {0, 0, 1}
 
const RGBColor WHITE = {0, 0, 0}
 
const RGBColor BLACK = {1, 1, 1}
 
const RGBColor YELLOW = {1, 1, 0}
 
const RGBColor DARKGRAY = {0.984, 0.984, 0.984}
 
const RGBColor LIGHTGRAY = {0.827, 0.827, 0.827}
 

Detailed Description

namespace MBSim

class for time measurement (timer, stopwatch)

Author
Robert Huber
Date
2010-05-11 portable version without gettimeofday added (if sys/time.h is not availible) (Robert Huber)
2010-07-06 flag in StopWatch::stop to reset timer (Robert Huber)

Function Documentation

double MBSim::ArcTan ( double  x,
double  y 
)

calculates planar angle in [0,2] with respect to Cartesian coordinates of: Arc Tangent (y/x)

Parameters
Cartesianx-coordinate
Cartesiany-coordinate
Returns
angle
fmatvec::SqrMat MBSim::BasicRotAKIx ( double  phi)

Basic Rotations (see Script TM Grundlagenfach)

Rotate CoSy I (angle phi) to obtain CoSy K

void MBSim::binomialCoef ( Mat Bin)

Setup a matrix containing binomial coefficients.

Setup the binomial coefficients into th matrix Bin \[ Bin(i,j) = \left( \begin{array}{c}i \\ j\end{array} \right)\] The binomical coefficients are defined as follow \[ \left(\begin{array}{c} n \\ k \end{array} \right)= \frac{ n!}{k!(n-k)!} \mbox{for $0\leq k \leq n$} \] and the following relationship applies \[ \left(\begin{array}{c} n+1 \\ k \end{array} \right) = \left(\begin{array}{c} n \\ k \end{array} \right) + \left(\begin{array}{c} n \\ k-1 \end{array} \right) \]

Parameters
Binthe binomial matrix
Author
Philippe Lavoie
Date
24 January, 1997
double MBSim::computeAngleOnUnitCircle ( const fmatvec::Vec3 &  r)

computes azimuthal angle

Author
Martin Foerg
Date
some comments (Thorsten Schindler)
fmatvec::Vec2 MBSim::computeAnglesOnUnitSphere ( const fmatvec::Vec3 &  r)

computes azimuthal and polar angles

Author
Martin Foerg
Date
some comments (Thorsten Schindler)
fmatvec::Vec3 MBSim::computeTangential ( const fmatvec::Vec3 &  n)
Returns
perpendicular vector
Parameters
inputvector
ContactKinematics * MBSim::findContactPairingRigidRigid ( const char *  contour0,
const char *  contour1 
)

defines contact kinematics between two contours

Author
Martin Foerg
Date
2009-07-14 some comments (Thorsten Schindler)
2010-11-05 Interface changed (Markus Schneider)
void MBSim::knotAveragingClosed ( const Vec uk,
int  deg,
Vec U 
)

generates a knot vector using the averaging technique for interpolation with closed curve.

Generates a knot vector using the averaging technique for interpolation with closed curve. See eq 9.9 in the NURBS Book

Parameters
ukthe knot coefficients
degthe degree of the curve associated with the knot vector
Uan average knot vector
Author
Alejandro Frangi
Date
13 July, 1998
double MBSim::proxCN ( const double  arg,
const double  boundary = 0 
)

computes the prox-function for the set of real numbers that has a lower boundary : )boundary , infinity]

Parameters
theargument of the prox-function
thelower boundary (=0, for no value)

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