finite element for bending torsional axis More...
#include <finite_element_1s_23_bta.h>
Public Member Functions | |
FiniteElement1s23BTA (double l0, double Arho, double EIyy, double EIzz, double Itrho, double GIt, fmatvec::Vec g) | |
constructor More... | |
virtual | ~FiniteElement1s23BTA () |
destructor | |
virtual const fmatvec::SymMat & | getM () const |
virtual const fmatvec::Vec & | geth () const |
virtual const fmatvec::SqrMat & | getdhdq () const |
virtual const fmatvec::SqrMat & | getdhdu () const |
virtual int | getqSize () const |
virtual int | getuSize () const |
virtual void | computeM (const fmatvec::Vec &qG) |
compute mass matrix More... | |
virtual void | computeh (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
compute smooth right hand side More... | |
virtual void | computedhdz (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
compute Jacobian for implicit integration More... | |
virtual double | computeKineticEnergy (const fmatvec::Vec &q, const fmatvec::Vec &u) |
compute kinetic energy More... | |
virtual double | computeGravitationalEnergy (const fmatvec::Vec &q) |
compute gravitational energy More... | |
virtual double | computeElasticEnergy (const fmatvec::Vec &q) |
compute elastic energy More... | |
virtual fmatvec::Vec3 | getPosition (const fmatvec::Vec &qElement, double s) |
virtual fmatvec::SqrMat3 | getOrientation (const fmatvec::Vec &qElement, double s) |
virtual fmatvec::Vec3 | getVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
virtual fmatvec::Vec3 | getAngularVelocity (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
virtual fmatvec::Mat | getJacobianOfMotion (const fmatvec::Vec &qElement, double s) |
void | setMaterialDamping (double) |
void | setLehrDamping (double) |
void | setTorsionalDamping (double dTorsional_) |
fmatvec::Vec3 | getTangent (const fmatvec::Vec &q, double s) |
compute tangent More... | |
fmatvec::Vector < fmatvec::Fixed< 6 >, double > | getPositions (const fmatvec::Vec &qElement, double s) |
fmatvec::Vector < fmatvec::Fixed< 6 >, double > | getVelocities (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s) |
fmatvec::Mat | JGeneralized (const fmatvec::Vec &q, double s) |
compute accompanying trihedral More... | |
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DiscretizationInterface () | |
constructor | |
virtual | ~DiscretizationInterface () |
destructor | |
Private Attributes | |
double | l0 |
length of finite element | |
double | Arho |
cross sectional area multiplied with density | |
double | EIyy |
Young's modulus multiplied with geometrical moment of inertia. | |
double | EIzz |
double | Itrho |
geometrical moment of inertia multiplied with density | |
double | GIt |
shear modulus multiplied with geometrical moment of inertia | |
fmatvec::Vec | g |
gravitation | |
double | depsilon |
prolongational and torsional damping | |
double | dTorsional |
fmatvec::SymMat | M |
global system description | |
fmatvec::Vec | h |
fmatvec::SqrMat | Dhq |
matrices for implicit integration | |
fmatvec::SqrMat | Dhqp |
fmatvec::SqrMat | Damp |
internal damping matrix | |
double | l0h2 |
beam length powers | |
double | l0h3 |
finite element for bending torsional axis
implicit integration analytically TODO
tangent, awk necessary? TODO
MBSimFlexibleBody::FiniteElement1s23BTA::FiniteElement1s23BTA | ( | double | l0, |
double | Arho, | ||
double | EIyy, | ||
double | EIzz, | ||
double | Itrho, | ||
double | GIt, | ||
fmatvec::Vec | g | ||
) |
constructor
length | of finite element |
cross-sectional | area multiplied with density |
Young's | modulus multiplied with first area moment of inertia |
Young's | modulus multiplied with second area moment of inertia |
torsional | moment of inertia multiplied with density |
shear | modulus multiplied with torsional moment of inertia |
acceleration | of gravity |
|
virtual |
compute Jacobian for implicit integration
generalised | positions |
generalised | velocities |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
virtual |
compute elastic energy
generalised | positions |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
virtual |
compute gravitational energy
generalised | positions |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
virtual |
compute smooth right hand side
generalised | positions |
generalised | velocities |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
virtual |
compute kinetic energy
generalised | positions |
generalised | velocities |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
virtual |
compute mass matrix
generalised | positions |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
Vec3 MBSimFlexibleBody::FiniteElement1s23BTA::getTangent | ( | const fmatvec::Vec & | q, |
double | s | ||
) |
compute tangent
global | coordinates |
LAGRANGIAN | parameter |
|
inlinevirtual |
Implements MBSimFlexibleBody::DiscretizationInterface.
Mat MBSimFlexibleBody::FiniteElement1s23BTA::JGeneralized | ( | const fmatvec::Vec & | q, |
double | s | ||
) |
compute accompanying trihedral
global | coordinates |
LAGRANGIAN | parameter |
compute global state
global | coordinates |
global | velocities |
LAGRANGIAN | parameter |
global | coordinates |
LAGRANGIAN | parameter |