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MBSimFlexibleBody::Weight33RCM Class Reference

integrals of bending parametrisation for FiniteElement1s33RCM More...

#include <weight33RCM.h>

Public Member Functions

 Weight33RCM (double l0_, double l0h2_, double l0h3_, Trafo33RCMPtr tf_)
 constructor
 
virtual ~Weight33RCM ()
 Destructor.
 
void setCurvature (double k10_, double k20_)
 
void setGauss (int nGauss)
 
const fmatvec::RowVecgetvxvt () const
 
const fmatvec::VecgetvxvtH () const
 
const fmatvec::RowVecgetxvxvt () const
 
const fmatvec::VecgetxvxvtH () const
 
const fmatvec::SymMatgetvxvtwxwt () const
 
const fmatvec::RowVecgetvvt () const
 
const fmatvec::VecgetvvtH () const
 
const fmatvec::RowVecgetxvvt () const
 
const fmatvec::VecgetxvvtH () const
 
const fmatvec::SymMatgetvvtwwt () const
 
const double & getIwh1 () const
 
const double & getIwh2 () const
 
const double & getIwh1t () const
 
const double & getIwh2t () const
 
const double & getIxwh1 () const
 
const double & getIxwh2 () const
 
const double & getIxwh1t () const
 
const double & getIxwh2t () const
 
const double & getIwh1twh1 () const
 
const double & getIwh1twh2 () const
 
const double & getIwh1twh1t () const
 
const double & getIwh1wh1 () const
 
const double & getIwh1wh2t () const
 
const double & getIwh1wh2 () const
 
const double & getIwh2twh2t () const
 
const double & getIwh2twh2 () const
 
const double & getIwh2wh2 () const
 
const double & getIwh1twh2t () const
 
const double & getIwh1xwh1x () const
 
const double & getIwh2xwh2x () const
 
const double & getIwh1xxwh1xx () const
 
const double & getIwh2xxwh2xx () const
 
const fmatvec::RowVecgetIwh1xxwxxwt () const
 
const fmatvec::RowVecgetIwh2xxwxxwt () const
 
const fmatvec::RowVecgetIwh1wwt () const
 
const fmatvec::RowVecgetIwh2wwt () const
 
const fmatvec::VecgetIwh1wwtH () const
 
const fmatvec::VecgetIwh2wwtH () const
 
const fmatvec::RowVecgetIwh1twwt () const
 
const fmatvec::RowVecgetIwh2twwt () const
 
const fmatvec::VecgetIwh1twwtH () const
 
const fmatvec::VecgetIwh2twwtH () const
 
const fmatvec::RowVecgetIwh1xwxwt () const
 
const fmatvec::RowVecgetIwh2xwxwt () const
 
const fmatvec::Vecgetw1coef () const
 
const fmatvec::Vecgetw2coef () const
 
const fmatvec::Vecgetw1tcoef () const
 
const fmatvec::Vecgetw2tcoef () const
 
const fmatvec::Matgetw1coefqI () const
 
const fmatvec::Matgetw2coefqI () const
 
const fmatvec::Vecgetwh1coef () const
 
const fmatvec::Vecgetwh2coef () const
 
const fmatvec::Vecgetwh1tcoef () const
 
const fmatvec::Vecgetwh2tcoef () const
 
const fmatvec::Matgetwh1coefqI () const
 
const fmatvec::Matgetwh2coefqI () const
 
fmatvec::Mat getwh1coefqIH () const
 
fmatvec::Mat getwh2coefqIH () const
 
const fmatvec::Matgetwh1tcoefqI () const
 
const fmatvec::Matgetwh2tcoefqI () const
 
const fmatvec::Matgetwh1coefqInunutH () const
 
const fmatvec::Matgetwh2coefqInunutH () const
 
const fmatvec::MatgettSqI () const
 
const fmatvec::MatgetnSqI () const
 
const fmatvec::MatgetbSqI () const
 
const fmatvec::MatgetnSqIH () const
 
const fmatvec::MatgetbSqIH () const
 
const fmatvec::MatgettStqI () const
 
const fmatvec::MatgetnStqI () const
 
const fmatvec::MatgetbStqI () const
 
const double & getTtil () const
 
const fmatvec::RowVecgetTtilqI () const
 
const fmatvec::SymMatgetTtilqItqIt () const
 
const fmatvec::VecgetTtilqItqIqIt () const
 
const fmatvec::MatgetdpS () const
 
const fmatvec::MatgetdpSH () const
 
double intv (const fmatvec::Vec &vt) const
 
double intvx (const fmatvec::Vec &vt) const
 
double intxv (const fmatvec::Vec &vt) const
 
double intxvx (const fmatvec::Vec &vt) const
 
double intvw (const fmatvec::Vec &vt, const fmatvec::Vec &wt) const
 
double intvxwx (const fmatvec::Vec &vt, const fmatvec::Vec &wt) const
 
double intvxxvxx (const fmatvec::Vec &vt, double C) const
 
void intvvt ()
 
void intvvtH ()
 
void intvxvt ()
 
void intvxvtH ()
 
void intxvvt ()
 
void intxvvtH ()
 
void intxvxvt ()
 
void intxvxvtH ()
 
fmatvec::RowVec intvwwt (const fmatvec::Vec &vt) const
 
fmatvec::RowVec intvxwxwt (const fmatvec::Vec &vt) const
 
fmatvec::RowVec intvxxwxxwt (const fmatvec::Vec &vt, double C) const
 
void intvvtwwt ()
 
void intvxvtwxwt ()
 
void computeint (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 computes the integrals of bending polynomials More...
 
void computeintD (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 computes the vector integrals of bending polynomials More...
 
void computewcoefPos (const fmatvec::Vec &qG)
 computes the coefficients of bending polynomials w More...
 
void computewcoefVel (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 computes the time differentiated coefficients of bending polynomials w More...
 
void computewhcoefPos (const fmatvec::Vec &qG)
 computes the coefficients of bending polynomials w and wh More...
 
void computewhcoefVel (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
 computes the coefficients of bending polynomials w and wh and their time derivatives More...
 
void computewcoefPosD ()
 computes the derivative of w-coefficients with respect to bending coordinates
 
void computewhcoefPosD (const fmatvec::Vec &qG)
 computes bending polynomial values on position level More...
 
fmatvec::Vec computewcoef (double dL, double dR, double bL, double bR) const
 computes the coefficients of w and wt More...
 
fmatvec::Vec computew (const fmatvec::Vec &wt, double x) const
 evaluates the bending polynomial and its x-derivative More...
 

Private Member Functions

void computeint ()
 computes the integrals of bending polynomials
 
void computewcoefPos ()
 computes the coefficients of bending polynomials w
 
void computewcoefVel ()
 computes the time differentiated coefficients of bending polynomials w
 
void computewhcoefPos ()
 computes the coefficients of bending polynomials w and wh
 
void computewhcoefVel ()
 computes the coefficients of bending polynomials w and wh and their time derivatives
 
void computewhcoefPosD ()
 computes bending polynomial values on position level
 
void computewhcoefVelD ()
 computes bending polynomial values on velocity level
 
void computeomgt (double x)
 compute angular velocity around tangent
 
void computeT ()
 compute rotational kinetic energy
 
void computedpS ()
 compute delta matrix for CP with respect to rotation
 

Private Attributes

Trafo33RCMPtr tf
 Trafo-Object.
 
double l0
 length of FEM1s33RCM
 
double l0h2
 
double l0h3
 
double l0h4
 
double l0h5
 
double l0h7
 
double l0h9
 
double l0h11
 
double k10
 predefined bendings
 
double k20
 
fmatvec::RowVec Ivvt
 general integrals
 
fmatvec::RowVec Ivxvt
 
fmatvec::RowVec Ixvvt
 
fmatvec::RowVec Ixvxvt
 
fmatvec::SymMat Ivvtwwt
 
fmatvec::SymMat Ivxvtwxwt
 
fmatvec::Vec IvvtH
 
fmatvec::Vec IvxvtH
 
fmatvec::Vec IxvvtH
 
fmatvec::Vec IxvxvtH
 
double Iwh1
 special integrals
 
double Iwh2
 
double Iwh1t
 
double Iwh2t
 
double Ixwh1
 
double Ixwh2
 
double Ixwh1t
 
double Ixwh2t
 
double Iwh1twh1
 
double Iwh1twh2
 
double Iwh1twh1t
 
double Iwh1wh1
 
double Iwh1wh2t
 
double Iwh1wh2
 
double Iwh2twh2t
 
double Iwh2twh2
 
double Iwh2wh2
 
double Iwh1twh2t
 
fmatvec::RowVec Iwh1wwt
 
fmatvec::RowVec Iwh1twwt
 
fmatvec::RowVec Iwh2wwt
 
fmatvec::RowVec Iwh2twwt
 
fmatvec::Vec Iwh1wwtH
 
fmatvec::Vec Iwh1twwtH
 
fmatvec::Vec Iwh2wwtH
 
fmatvec::Vec Iwh2twwtH
 
double Iwh1xwh1x
 
double Iwh2xwh2x
 
double Iwh1xxwh1xx
 
double Iwh2xxwh2xx
 
fmatvec::RowVec Iwh1xwxwt
 
fmatvec::RowVec Iwh2xwxwt
 
fmatvec::RowVec Iwh1xxwxxwt
 
fmatvec::RowVec Iwh2xxwxxwt
 
fmatvec::Vec w1coef
 bending coefficients
 
fmatvec::Vec w2coef
 
fmatvec::Vec w1tcoef
 
fmatvec::Vec w2tcoef
 
fmatvec::Vec wh1coef
 
fmatvec::Vec wh2coef
 
fmatvec::Vec wh1tcoef
 
fmatvec::Vec wh2tcoef
 
fmatvec::Mat w1coefqI
 
fmatvec::Mat w2coefqI
 
fmatvec::Mat wh1coefqI
 
fmatvec::Mat wh2coefqI
 
fmatvec::Mat wh1tcoefqI
 
fmatvec::Mat wh2tcoefqI
 
fmatvec::Mat wh1coefqInunutH
 
fmatvec::Mat wh2coefqInunutH
 
fmatvec::Mat tSqI
 COSY.
 
fmatvec::Mat nSqI
 
fmatvec::Mat bSqI
 
fmatvec::Mat tStqI
 
fmatvec::Mat nStqI
 
fmatvec::Mat bStqI
 
fmatvec::Mat nSqIH
 
fmatvec::Mat bSqIH
 
fmatvec::Mat ntilSqI
 
fmatvec::Mat btilSqI
 
fmatvec::RowVec xintilqI
 
fmatvec::RowVec xibtilqI
 
fmatvec::RowVec etantilqI
 
fmatvec::RowVec etabtilqI
 
double omgt
 omgtS
 
fmatvec::RowVec omgtqI
 
fmatvec::RowVec omgtqIt
 
fmatvec::Vec omgtqItqIqIt
 
double Ttil
 rotational kinetic energy
 
fmatvec::RowVec TtilqI
 
fmatvec::SymMat TtilqItqIt
 
fmatvec::Vec TtilqItqIqIt
 
fmatvec::Vec gp
 Gauss integration.
 
fmatvec::Vec xip
 
double bam
 
fmatvec::Mat dpS
 delta matrix for pS
 
fmatvec::Mat dpSH
 

Detailed Description

integrals of bending parametrisation for FiniteElement1s33RCM

Author
Thorsten Schindler
Date
2009-04-24 initial commit (Thorsten Schindler)

Member Function Documentation

void MBSimFlexibleBody::Weight33RCM::computeint ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

computes the integrals of bending polynomials

Parameters
globalcoordinates
globalvelocities
void MBSimFlexibleBody::Weight33RCM::computeintD ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

computes the vector integrals of bending polynomials

Parameters
globalcoordinates
globalvelocities
Vec MBSimFlexibleBody::Weight33RCM::computew ( const fmatvec::Vec wt,
double  x 
) const

evaluates the bending polynomial and its x-derivative

Parameters
pointof evaluation
Vec MBSimFlexibleBody::Weight33RCM::computewcoef ( double  dL,
double  dR,
double  bL,
double  bR 
) const

computes the coefficients of w and wt

Parameters
lefttranslational deflection
righttranslational deflection
leftrotational deflection
rightrotational deflection
void MBSimFlexibleBody::Weight33RCM::computewcoefPos ( const fmatvec::Vec qG)

computes the coefficients of bending polynomials w

Parameters
globalcoordinates
void MBSimFlexibleBody::Weight33RCM::computewcoefVel ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

computes the time differentiated coefficients of bending polynomials w

Parameters
globalcoordinates
globalvelocities
void MBSimFlexibleBody::Weight33RCM::computewhcoefPos ( const fmatvec::Vec qG)

computes the coefficients of bending polynomials w and wh

Parameters
globalcoordinates
void MBSimFlexibleBody::Weight33RCM::computewhcoefPosD ( const fmatvec::Vec qG)

computes bending polynomial values on position level

Parameters
globalcoordinates
void MBSimFlexibleBody::Weight33RCM::computewhcoefVel ( const fmatvec::Vec qG,
const fmatvec::Vec qGt 
)

computes the coefficients of bending polynomials w and wh and their time derivatives

Parameters
globalcoordinates
globalvelocities
void MBSimFlexibleBody::Weight33RCM::setCurvature ( double  k10_,
double  k20_ 
)
inline
Parameters
firstcurvature
secondcurvature
void MBSimFlexibleBody::Weight33RCM::setGauss ( int  nGauss)
Parameters
numberof Gauss points

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

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