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finite_element_linear_external_lumped_node.h
1 /* Copyright (C) 2004-2013 MBSim Development Team
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20 
21 #ifndef _FINITE_ELEMENT_LINEAR_EXTERNAL_LUMPED_NODE_H_
22 #define _FINITE_ELEMENT_LINEAR_EXTERNAL_LUMPED_NODE_H_
23 
24 #include <fmatvec/fmatvec.h>
25 #include "mbsim/mbsim_event.h"
26 #include "mbsimFlexibleBody/discretization_interface.h"
27 
28 namespace MBSimFlexibleBody {
29 
31 
32  public:
36  FiniteElementLinearExternalLumpedNode(double& mij_, fmatvec::Vec3& u0_, const fmatvec::Mat3xV& phi_);
37 
42 
43  /* INTERFACE OF DISCRETIZATIONINTERFACE */
44  virtual const fmatvec::SymMat& getM() const;
45  virtual const fmatvec::Vec& geth() const;
46  virtual const fmatvec::SqrMat& getdhdq() const;
47  virtual const fmatvec::SqrMat& getdhdu() const;
48  virtual int getqSize() const;
49  virtual int getuSize() const;
50  virtual void computeM(const fmatvec::Vec& qG);
51  virtual void computeh(const fmatvec::Vec& qG, const fmatvec::Vec& qGt);
52  virtual void computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt);
53  virtual double computeKineticEnergy(const fmatvec::Vec& qG, const fmatvec::Vec& qGt);
54  virtual double computeGravitationalEnergy(const fmatvec::Vec& qG);
55  virtual double computeElasticEnergy(const fmatvec::Vec& qG);
56  virtual fmatvec::Vec3 getPosition(const fmatvec::Vec& qElement, double s);
57  virtual fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& qElement, double s);
58  virtual fmatvec::Vec3 getVelocity (const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
59  virtual fmatvec::Vec3 getAngularVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
60  virtual fmatvec::Mat getJacobianOfMotion(const fmatvec::Vec& qElement, double s);
61  /***************************************************/
62 
63  const double getMij() const { return mij; }
64  const fmatvec::Vec3& getU0() const { return u0; }
65  const fmatvec::Mat3xV& getModeShape() const { return phi; }
66 
67  private:
71  const double mij;
75  const fmatvec::Vec3 u0;
79  fmatvec::Mat3xV phi;
80  };
81 
82 }
83 
84 #endif
virtual const fmatvec::Vec & geth() const
Definition: finite_element_linear_external_lumped_node.cc:47
virtual double computeGravitationalEnergy(const fmatvec::Vec &qG)
compute gravitational energy
Definition: finite_element_linear_external_lumped_node.cc:79
virtual ~FiniteElementLinearExternalLumpedNode()
destructor
Definition: finite_element_linear_external_lumped_node.cc:40
virtual void computeM(const fmatvec::Vec &qG)
compute mass matrix
Definition: finite_element_linear_external_lumped_node.cc:65
virtual double computeElasticEnergy(const fmatvec::Vec &qG)
compute elastic energy
Definition: finite_element_linear_external_lumped_node.cc:83
virtual void computedhdz(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute Jacobian for implicit integration
Definition: finite_element_linear_external_lumped_node.cc:71
virtual int getqSize() const
Definition: finite_element_linear_external_lumped_node.cc:59
Definition: finite_element_linear_external_lumped_node.h:30
virtual const fmatvec::SqrMat & getdhdq() const
Definition: finite_element_linear_external_lumped_node.cc:51
FiniteElementLinearExternalLumpedNode(double &mij_, fmatvec::Vec3 &u0_, const fmatvec::Mat3xV &phi_)
constructor
Definition: finite_element_linear_external_lumped_node.cc:34
const double mij
lumped mass
Definition: finite_element_linear_external_lumped_node.h:71
const fmatvec::Vec3 u0
undeformed position vector
Definition: finite_element_linear_external_lumped_node.h:75
discretization interface for flexible systems
Definition: discretization_interface.h:36
virtual double computeKineticEnergy(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute kinetic energy
Definition: finite_element_linear_external_lumped_node.cc:75
virtual void computeh(const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
compute smooth right hand side
Definition: finite_element_linear_external_lumped_node.cc:67
fmatvec::Mat3xV phi
mode shape vector: 3*nf
Definition: finite_element_linear_external_lumped_node.h:79
virtual const fmatvec::SqrMat & getdhdu() const
Definition: finite_element_linear_external_lumped_node.cc:55
virtual const fmatvec::SymMat & getM() const
Definition: finite_element_linear_external_lumped_node.cc:43
virtual int getuSize() const
Definition: finite_element_linear_external_lumped_node.cc:61

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