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MBSimFlexibleBody::Angles Class Referenceabstract

node class for angle parametrisation More...

#include <angles.h>

Inheritance diagram for MBSimFlexibleBody::Angles:
MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> MBSim::FunctionBase MBSim::Element fmatvec::Atom MBSimFlexibleBody::Cardan MBSimFlexibleBody::RevCardan

Public Member Functions

 Angles ()
 constructor
 
virtual ~Angles ()
 destructor
 
virtual fmatvec::RotMat3 operator() (const fmatvec::VecV &q, const double &t)
 
virtual fmatvec::Vec3 computet (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Vec3 computen (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Vec3 computeb (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Vec computentil (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Vec computebtil (const fmatvec::Vec &q) const =0
 
virtual fmatvec::SqrMat computetq (const fmatvec::Vec &q) const =0
 
virtual fmatvec::SqrMat computenq (const fmatvec::Vec &q) const =0
 
virtual fmatvec::SqrMat computebq (const fmatvec::Vec &q) const =0
 
virtual fmatvec::SqrMat computentilq (const fmatvec::Vec &q) const =0
 
virtual fmatvec::SqrMat computebtilq (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Mat computetq2 (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Mat computenq2 (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Mat computebq2 (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Mat computentilq2 (const fmatvec::Vec &q) const =0
 
virtual fmatvec::Mat computebtilq2 (const fmatvec::Vec &q) const =0
 
fmatvec::Vec computett (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::Vec computent (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::Vec computebt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::Vec computentilt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::Vec computebtilt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::SqrMat computetqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::SqrMat computenqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::SqrMat computebqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::SqrMat computentilqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
fmatvec::SqrMat computebtilqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
virtual fmatvec::Vec computeOmega (const fmatvec::Vec &q, const fmatvec::Vec &qt) const
 
virtual fmatvec::SqrMat computeT (const fmatvec::Vec &q) const
 
- 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)
 

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 fmatvec::Atom
 Atom (const Atom &src)
 

Detailed Description

node class for angle parametrisation

Author
Thorsten Schindler
Date
2009-04-24 initial commit (Thorsten Schindler)
2010-05-23 update according to change in Rotation (Martin Foerg)
2012-03-20 added T matrix (Schindler / Cebulla)
Todo:
unify with Rotation TODO

Member Function Documentation

virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computeb ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
binormal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computebq ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
derivative of binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computebq2 ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
2nd derivative of binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computebqt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of bq
Vec MBSimFlexibleBody::Angles::computebt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of binormal
virtual fmatvec::Vec MBSimFlexibleBody::Angles::computebtil ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
tilde binormal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computebtilq ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
derivative of tilde binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computebtilq2 ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
2nd derivative of tilde binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computebtilqt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of btilq
Vec MBSimFlexibleBody::Angles::computebtilt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of tilde binormal
virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computen ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
normal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computenq ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
derivative of normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computenq2 ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
2nd derivative of normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computenqt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of nq
Vec MBSimFlexibleBody::Angles::computent ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of normal
virtual fmatvec::Vec MBSimFlexibleBody::Angles::computentil ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
tilde normal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computentilq ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
derivative of tilde normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computentilq2 ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
2nd derivative of tilde normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computentilqt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of ntilq
Vec MBSimFlexibleBody::Angles::computentilt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of tilde normal
Vec MBSimFlexibleBody::Angles::computeOmega ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
virtual
Parameters
angles
derivativeof angles
Returns
angular velocity

Reimplemented in MBSimFlexibleBody::Cardan.

virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computet ( const fmatvec::Vec q) const
pure virtual
Returns
tangent

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computeT ( const fmatvec::Vec q) const
virtual
Parameters
angles
Returns
T-matrix (transformation matrix from differentiated angles to angular velocity omega)

Reimplemented in MBSimFlexibleBody::Cardan.

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computetq ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
derivative of tangent with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computetq2 ( const fmatvec::Vec q) const
pure virtual
Parameters
angles
Returns
2nd derivative of tangent with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

SqrMat MBSimFlexibleBody::Angles::computetqt ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of tq
Vec MBSimFlexibleBody::Angles::computett ( const fmatvec::Vec q,
const fmatvec::Vec qt 
) const
Parameters
angles
derivativeof angles
Returns
time derivative of tangent

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

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