transformation of coordinates for FiniteElement1s33RCM More...
#include <trafo33RCM.h>
Public Member Functions | |
Trafo33RCM (RevCardanPtr angle_, double l0_) | |
constructor | |
virtual | ~Trafo33RCM () |
destructor | |
const fmatvec::SqrMat & | getJIG () const |
const fmatvec::SqrMat & | getJIGt () const |
const fmatvec::Vec & | getpS () const |
const fmatvec::Vec & | getpSt () const |
const fmatvec::Vec & | gettS () const |
const fmatvec::Vec & | getnS () const |
const fmatvec::Vec & | getbS () const |
const fmatvec::RowVec & | getnSH () const |
const fmatvec::RowVec & | getbSH () const |
const fmatvec::Vec & | getntilS () const |
const fmatvec::Vec & | getbtilS () const |
const fmatvec::RowVec & | getntilSH () const |
const fmatvec::RowVec & | getbtilSH () const |
const fmatvec::Vec & | gettSt () const |
const fmatvec::Vec & | getnSt () const |
const fmatvec::Vec & | getbSt () const |
const fmatvec::RowVec & | gettStH () const |
const fmatvec::RowVec & | getnStH () const |
const fmatvec::RowVec & | getbStH () const |
const fmatvec::RowVec & | getntilStH () const |
const fmatvec::RowVec & | getbtilStH () const |
const fmatvec::SqrMat & | gettSpS () const |
const fmatvec::SqrMat & | getnSpS () const |
const fmatvec::SqrMat & | getbSpS () const |
const fmatvec::SqrMat & | getntilSpS () const |
const fmatvec::SqrMat & | getbtilSpS () const |
const fmatvec::SqrMat & | gettSpSt () const |
const fmatvec::SqrMat & | getnSpSt () const |
const fmatvec::SqrMat & | getbSpSt () const |
const fmatvec::SqrMat & | getntilSpSt () const |
const fmatvec::SqrMat & | getbtilSpSt () const |
const fmatvec::Vec & | getqIt () const |
const double & | getepstil () const |
const double & | getepstilt () const |
const fmatvec::Vec & | getrS () const |
const fmatvec::Vec & | getrSt () const |
const double & | getk0 () const |
const double & | getk0t () const |
const fmatvec::Vec & | getbe () const |
const fmatvec::Vec & | getbet () const |
const double & | getxintil () const |
const double & | getxibtil () const |
const double & | getetantil () const |
const double & | getetabtil () const |
const double & | getxintilt () const |
const double & | getxibtilt () const |
const double & | getetantilt () const |
const double & | getetabtilt () const |
const fmatvec::SqrMat & | getV () const |
void | computeqI (const fmatvec::Vec &qG) |
compute the internal coordinates More... | |
void | computeJIG (const fmatvec::Vec &qG) |
compute the Jacobian of the trafo More... | |
void | computezI (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
compute the internal state More... | |
void | computeCOSYt (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
compute the internal time differentiated COSY More... | |
void | computeTrafo (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) |
compute the internal coordinates and velocities as well as JIGt More... | |
Private Member Functions | |
void | computeprelim (const fmatvec::Vec &qG) |
computes preliminaries More... | |
fmatvec::Vec | computes0 (const fmatvec::Vec &qG) |
compute the initial value for computebe() More... | |
void | computebe (const fmatvec::Vec &qG) |
compute the angle and bending positions More... | |
void | computeCOSY () |
compute the COSY | |
void | computerSepstk0 (const fmatvec::Vec &qG) |
compute the CP, prolongation and torsion More... | |
void | computedrRdrL () |
compute delta matrix for right and left beam end | |
void | computeV () |
compute the derivative of coefficients of bending polynomials w with respect to bending coordinates | |
void | computebeqG () |
compute the derivative of bE with respect to qG | |
void | computeCOSYqG () |
compute the derivative of COSY with respect to qG | |
void | computeCOSYt () |
compute the derivative of COSY with respect to time | |
void | computeJIGt (const fmatvec::Vec &qGt) |
compute the derivative of JIG with respect to time More... | |
Private Attributes | |
RevCardanPtr | angle |
reversed Cardan-Object | |
double | l0 |
length of FiniteElement1s33RCM and powers | |
double | l0h2 |
double | l0h3 |
double | l0h4 |
double | l0h5 |
double | xstar |
double | xstarh2 |
double | xstarh3 |
double | epstil |
internal coordinates of the FiniteElement1s33RCM | |
double | k0 |
fmatvec::Vec | rS |
fmatvec::Vec | pS |
fmatvec::Vec | rRrLp |
sum of right and left translational vector as well as transpose of the difference | |
fmatvec::RowVec | rRrLmH |
fmatvec::Vec | be |
bending coordinates | |
fmatvec::Vec | tS |
COSY definitions. | |
fmatvec::Vec | nS |
fmatvec::Vec | bS |
fmatvec::Vec | ntilS |
fmatvec::Vec | btilS |
fmatvec::RowVec | nSH |
fmatvec::RowVec | bSH |
fmatvec::RowVec | ntilSH |
fmatvec::RowVec | btilSH |
fmatvec::SqrMat | tSpS |
fmatvec::SqrMat | nSpS |
fmatvec::SqrMat | bSpS |
fmatvec::SqrMat | ntilSpS |
fmatvec::SqrMat | btilSpS |
double | xibtil |
double | xintil |
double | etabtil |
double | etantil |
fmatvec::Mat | SMRHS_Jac |
system matrix and right hand side for computebe() | |
fmatvec::SqrMat | V |
derivative of coefficients of bending polynomials w with respect to bending coordinates | |
fmatvec::Mat | drRdrLp |
delta matrices for computebe() | |
fmatvec::Mat | drRdrLm |
fmatvec::Mat | pSbE |
fmatvec::Mat | SMRHS |
COSY definitions for computebe() | |
fmatvec::Mat | nSbE |
fmatvec::Mat | bSbE |
fmatvec::Mat | ntilSbE |
fmatvec::Mat | btilSbE |
fmatvec::RowVec | xibtilbE |
fmatvec::RowVec | xintilbE |
fmatvec::RowVec | etabtilbE |
fmatvec::RowVec | etantilbE |
fmatvec::Mat | beqG |
derivative of be and COSY with respect to qG | |
fmatvec::Mat | tSqG |
fmatvec::Mat | nSqG |
fmatvec::Mat | bSqG |
fmatvec::Mat | ntilSqG |
fmatvec::Mat | btilSqG |
fmatvec::RowVec | xintilqG |
fmatvec::RowVec | xibtilqG |
fmatvec::RowVec | etantilqG |
fmatvec::RowVec | etabtilqG |
fmatvec::SqrMat | JIG |
Jacobian and differentiated Jacobian. | |
fmatvec::SqrMat | JIGt |
double | k0t |
derivative of k0, epstilt, qI, rS, be and COSY with respect to time | |
double | epstilt |
fmatvec::Vec | qIt |
fmatvec::Vec | rSt |
fmatvec::Vec | bet |
fmatvec::Vec | pSt |
fmatvec::Vec | tSt |
fmatvec::Vec | nSt |
fmatvec::Vec | bSt |
fmatvec::RowVec | tStH |
fmatvec::RowVec | nStH |
fmatvec::RowVec | bStH |
fmatvec::RowVec | ntilStH |
fmatvec::RowVec | btilStH |
fmatvec::SqrMat | tSpSt |
fmatvec::SqrMat | nSpSt |
fmatvec::SqrMat | bSpSt |
fmatvec::SqrMat | ntilSpSt |
fmatvec::SqrMat | btilSpSt |
double | xibtilt |
double | xintilt |
double | etabtilt |
double | etantilt |
transformation of coordinates for FiniteElement1s33RCM
|
private |
compute the angle and bending positions
global | coordinates |
void MBSimFlexibleBody::Trafo33RCM::computeCOSYt | ( | const fmatvec::Vec & | qG, |
const fmatvec::Vec & | qGt | ||
) |
compute the internal time differentiated COSY
global | coordinates |
global | velocities |
void MBSimFlexibleBody::Trafo33RCM::computeJIG | ( | const fmatvec::Vec & | qG | ) |
compute the Jacobian of the trafo
global | coordinates |
|
private |
compute the derivative of JIG with respect to time
global | velocities |
|
private |
computes preliminaries
global | coordinates |
void MBSimFlexibleBody::Trafo33RCM::computeqI | ( | const fmatvec::Vec & | qG | ) |
compute the internal coordinates
global | coordinates |
|
private |
compute the CP, prolongation and torsion
global | coordinates |
|
private |
compute the initial value for computebe()
global | coordinates |
void MBSimFlexibleBody::Trafo33RCM::computeTrafo | ( | const fmatvec::Vec & | qG, |
const fmatvec::Vec & | qGt | ||
) |
compute the internal coordinates and velocities as well as JIGt
global | coordinates |
global | velocities |
void MBSimFlexibleBody::Trafo33RCM::computezI | ( | const fmatvec::Vec & | qG, |
const fmatvec::Vec & | qGt | ||
) |
compute the internal state
global | coordinates |
global | velocities |