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MBSimFlexibleBody::FlexibleBody1s33ANCF Class Reference

Absolute Nodal Coordinate Formulation for flexible spatial beams. More...

#include <flexible_body_1s_33_ancf.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s33ANCF:
MBSimFlexibleBody::FlexibleBody1s MBSimFlexibleBody::FlexibleBodyContinuum< double > MBSimFlexibleBody::FlexibleBody MBSim::Body MBSim::Object MBSim::Element fmatvec::Atom

Public Member Functions

 FlexibleBody1s33ANCF (const std::string &name, bool openStructure)
 constructor: More...
 
virtual void updateM ()
 
virtual void updateLLM ()
 
virtual void BuildElements ()
 references finite element coordinates to assembled coordinates
 
virtual void GlobalVectorContribution (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)
 insert 'local' information in global vectors More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat)
 insert 'local' information in global matrices More...
 
virtual void GlobalMatrixContribution (int n, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat)
 insert 'local' information in global matrices More...
 
virtual void updatePositions (Frame1s *frame)
 
virtual void updateVelocities (Frame1s *frame)
 
virtual void updateAccelerations (Frame1s *frame)
 
virtual void updateJacobians (Frame1s *frame, int j=0)
 
virtual void updateGyroscopicAccelerations (Frame1s *frame)
 
virtual void updatePositions (NodeFrame *frame)
 
virtual void updateVelocities (NodeFrame *frame)
 
virtual void updateAccelerations (NodeFrame *frame)
 
virtual void updateJacobians (NodeFrame *frame, int j=0)
 
virtual void updateGyroscopicAccelerations (NodeFrame *frame)
 
virtual void init (InitStage stage)
 
virtual void plot ()
 
virtual std::string getType () const
 
void setNumberElements (int n)
 
void setEModul (double E_)
 
void setShearModul (double G_)
 
void setCrossSectionalArea (double A_)
 
void setMomentInertia (double I0_, double I1_, double I2_)
 
void setDensity (double rho_)
 
void setCurlRadius (double rc1_, double rc2_)
 
int getNumberElements ()
 
void initInfo ()
 initialise beam only for giving information with respect to state, number elements, length, (not for simulation)
 
void initRelaxed (double alpha)
 initialise beam state concerning a straight cantilever setting or a circle shaped ring More...
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1s
 FlexibleBody1s (const std::string &name, bool openStructure)
 constructor: More...
 
void setLength (double L_)
 
double getLength () const
 
bool getOpenStructure () const
 
void addFrame (Frame1s *frame)
 
virtual fmatvec::Vec3 getPosition (double s)
 
virtual fmatvec::SqrMat3 getOrientation (double s)
 
virtual fmatvec::Vec3 getAngles (double s)
 
void setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &body)
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
 FlexibleBodyContinuum (const std::string &name)
 constructor More...
 
void setContourNodes (const std::vector< double > nodes)
 
void setNodeOffset (const doublenodeOffset_)
 
double getNodeOffset () const
 
- Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody
 FlexibleBody (const std::string &name)
 constructor More...
 
virtual ~FlexibleBody ()
 destructor
 
virtual void updatedq ()
 
virtual void updateqd ()
 
virtual void updateh (int k=0)
 
virtual void updatedhdz ()
 
virtual void initializeUsingXML (xercesc::DOMElement *element)
 
virtual double computeKineticEnergy ()
 
virtual double computePotentialEnergy ()
 
virtual void setFrameOfReference (MBSim::Frame *frame)
 
virtual void setq0 (fmatvec::Vec q0_)
 
virtual void setu0 (fmatvec::Vec u0_)
 
const fmatvec::VecgetqElement (int i)
 
const fmatvec::VecgetuElement (int i)
 
virtual fmatvec::Vec3 getAngles (int i)
 
virtual fmatvec::Vec3 getDerivativeOfAngles (int i)
 
void setMassProportionalDamping (const double d_)
 cartesian kinematic for contour or external frame (normal, tangent, binormal) is set by implementation class More...
 
void addFrame (NodeFrame *frame)
 
void addFrame (MBSim::ContourFrame *frame)
 
void addFrame (MBSim::FixedRelativeFrame *frame)
 
void addContour (MBSim::Contour *contour)
 
virtual void exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false)
 interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file More...
 
virtual void importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string())
 imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve More...
 
void resetUpToDate ()
 
- Public Member Functions inherited from MBSim::Body
 Body (const std::string &name)
 
virtual void closePlot ()
 
virtual void setDynamicSystemSolver (DynamicSystemSolver *sys)
 
virtual ContourgetContour (const std::string &name, bool check=true) const
 
virtual FramegetFrame (const std::string &name, bool check=true) const
 
virtual FramegetFrameOfReference ()
 
virtual const FramegetFrameOfReference () const
 
int frameIndex (const Frame *frame_) const
 
int contourIndex (const Contour *contour_) const
 
virtual ElementgetChildByContainerAndName (const std::string &container, const std::string &name) const
 
 Object (const std::string &name)
 
virtual void updateqRef (const fmatvec::Vec &qRef)
 
virtual void updateqdRef (const fmatvec::Vec &qdRef)
 
virtual void updatedqRef (const fmatvec::Vec &dqRef)
 
virtual void updateuRef (const fmatvec::Vec &uRef)
 
virtual void updateuallRef (const fmatvec::Vec &uallRef)
 
virtual void updateudRef (const fmatvec::Vec &udRef)
 
virtual void updateduRef (const fmatvec::Vec &duRef)
 
virtual void updateudallRef (const fmatvec::Vec &udallRef)
 
virtual void updatehRef (const fmatvec::Vec &hRef, int i=0)
 
virtual void updatedhdqRef (const fmatvec::Mat &dhdqRef, int i=0)
 
virtual void updatedhduRef (const fmatvec::SqrMat &dhduRef, int i=0)
 
virtual void updatedhdtRef (const fmatvec::Vec &dhdtRef, int i=0)
 
virtual void updaterRef (const fmatvec::Vec &ref, int i=0)
 
virtual void updaterdtRef (const fmatvec::Vec &ref)
 
virtual void updateTRef (const fmatvec::Mat &ref)
 
virtual void updateMRef (const fmatvec::SymMat &ref)
 
virtual void updateLLMRef (const fmatvec::SymMat &ref)
 
virtual void initz ()
 
virtual void writez (H5::GroupBase *group)
 
virtual void readz0 (H5::GroupBase *group)
 
virtual double evalKineticEnergy ()
 
virtual double evalPotentialEnergy ()
 
virtual void setUpInverseKinetics ()
 
- Public Member Functions inherited from fmatvec::Atom
Atomoperator= (const Atom &)
 
void setMessageStreamActive (MsgType type, bool active)
 
void getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s)
 
void adoptMessageStreams (const Atom *src=NULL)
 
std::ostream & msg (MsgType type)
 
bool msgAct (MsgType type)
 

Private Member Functions

void initM ()
 initialize mass matrix and calculate Cholesky decomposition
 
void BuildElement (const double &sGlobal, double &sLocal, int &currentElement)
 detect current finite element More...
 
 FlexibleBody1s33ANCF (const FlexibleBody1s33ANCF &)
 copy constructor is declared private
 
FlexibleBody1s33ANCFoperator= (const FlexibleBody1s33ANCF &)
 assignment operator is declared private
 

Private Attributes

int Elements
 number of finite elements used for discretisation
 
double l0
 length of one finite element
 
double E
 modulus of linear elasticity
 
double G
 shear modulus
 
double A
 cross-section area
 
double I0
 polar moment of inertia of cross-section
 
double I1
 moment of inertia of cross-section
 
double I2
 moment of inertia of cross-section
 
double rho
 material density
 
double rc1
 radius of undeformed shape
 
double rc2
 radius of undeformed shape
 
bool initialised
 flag for testing if beam is initialised
 

Additional Inherited Members

- Public Types inherited from fmatvec::Atom
enum  MsgType
 
- Static Public Member Functions inherited from fmatvec::Atom
static void setCurrentMessageStream (MsgType type, const std::shared_ptr< bool > &a=std::make_shared< bool >(true), const std::shared_ptr< std::ostream > &s=std::make_shared< std::ostream >(std::cout.rdbuf()))
 
static std::ostream & msgStatic (MsgType type)
 
static bool msgActStatic (MsgType type)
 
- Protected Member Functions inherited from MBSim::Body
virtual void addFrame (Frame *frame)
 
- Protected Member Functions inherited from fmatvec::Atom
 Atom (const Atom &src)
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody1s
double L
 length of beam
 
bool openStructure
 flag for open (cantilever beam) or closed (rings) structures
 
Frame1s P
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
std::vector< double > userContourNodes
 grid for contact point detection
 
double nodeOffset
 offset of the ROTNODE from the TRANSNODE
 
- Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody
std::vector
< DiscretizationInterface * > 
discretization
 stl-vector of discretizations/finite elements
 
std::vector< fmatvec::VecqElement
 stl-vector of finite element wise positions
 
std::vector< fmatvec::VecuElement
 stl-vector of finite element wise velocities
 
double d_massproportional
 damping factor for mass proportion, see BodyFlexible::setMassProportionalDamping()
 
bool updEle
 vector of contour parameters each describing a frame More...
 
- Protected Attributes inherited from MBSim::Body
std::vector< Frame * > frame
 
FrameR
 
fmatvec::Mat3xV PJT [2]
 
int qSize
 
int uSize [2]
 
int hSize [2]
 
int qInd
 
fmatvec::Vec q
 
fmatvec::Vec q0
 
fmatvec::Vec qd
 
fmatvec::Vec h [2]
 
fmatvec::Mat dhdq
 
fmatvec::Mat T
 
fmatvec::SymMat M
 
fmatvec::SymMat LLM
 

Detailed Description

Absolute Nodal Coordinate Formulation for flexible spatial beams.

based on cable element with no explicit torsion, i.e. angular velocity and Jacobian of rotation depend only on two bending angles

Author
Thorsten Schindler
Date
2014-03-20 initial commit
Todo:
angular velocity and Jacobian of rotation for NODE case

model based on DOMBROWSKI, S.: Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates. Multibody System Dynamics (2002)

Constructor & Destructor Documentation

MBSimFlexibleBody::FlexibleBody1s33ANCF::FlexibleBody1s33ANCF ( const std::string &  name,
bool  openStructure 
)

constructor:

Parameters
nameof body
boolto specify open (cantilever) or closed (ring) structure

Member Function Documentation

void MBSimFlexibleBody::FlexibleBody1s33ANCF::BuildElement ( const double &  sGlobal,
double &  sLocal,
int &  currentElement 
)
private

detect current finite element

Parameters
globalparametrisation
localparametrisation
finiteelement number
void MBSimFlexibleBody::FlexibleBody1s33ANCF::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::Mat locMat,
fmatvec::Mat gloMat 
)
virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33ANCF::GlobalMatrixContribution ( int  CurrentElement,
const fmatvec::SymMat locMat,
fmatvec::SymMat gloMat 
)
virtual

insert 'local' information in global matrices

Parameters
CurrentElementnumber of current finite element
locMatlocal matrix
gloMatglobal matrix

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33ANCF::GlobalVectorContribution ( int  CurrentElement,
const fmatvec::Vec locVec,
fmatvec::Vec gloVec 
)
virtual

insert 'local' information in global vectors

Parameters
numberof finite element
localvector
globalvector

Implements MBSimFlexibleBody::FlexibleBody.

void MBSimFlexibleBody::FlexibleBody1s33ANCF::initRelaxed ( double  alpha)

initialise beam state concerning a straight cantilever setting or a circle shaped ring

Parameters
angleof slope in case of cantilever

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

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