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| SingleContact (const std::string &name="") |
| constructor More...
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void | resetUpToDate () |
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const double & | evalGeneralizedNormalForce () |
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const fmatvec::VecV & | evalGeneralizedTangentialForce () |
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double & | getGeneralizedNormalForce (bool check=true) |
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const double & | evallaN () |
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const fmatvec::Vec & | evallaT () |
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const double & | evalLaN () |
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const fmatvec::Vec & | evalLaT () |
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const double & | evalgdnN () |
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const fmatvec::Vec & | evalgdnT () |
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const double & | evalgddN () |
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const fmatvec::Vec & | evalgddT () |
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virtual void | updatewb () |
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virtual void | updateV (int i=0) |
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void | updateGeneralizedNormalForce () |
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void | updateGeneralizedTangentialForce () |
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void | updateGeneralizedNormalForceS () |
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void | updateGeneralizedNormalForceM () |
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void | updateGeneralizedNormalForceP () |
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void | updateGeneralizedTangentialForceS () |
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void | updateGeneralizedTangentialForceM () |
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void | updateGeneralizedTangentialForce0 () |
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virtual void | updateGeneralizedForces () |
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virtual void | updateGeneralizedPositions () |
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virtual void | updateGeneralizedVelocities () |
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virtual void | updatePositions () |
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virtual void | updatePositions (Frame *frame) |
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virtual void | updateVelocities () |
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virtual void | updateg () |
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virtual void | updategd () |
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virtual void | updateh (int i=0) |
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virtual void | updateW (int i=0) |
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virtual void | updateStopVector () |
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virtual void | updatelaRef (const fmatvec::Vec &ref) |
| references to contact force parameter of dynamic system parent
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virtual void | updateLaRef (const fmatvec::Vec &ref) |
| references to contact force parameter of dynamic system parent
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virtual void | updategdRef (const fmatvec::Vec &ref) |
| references to contact relative velocities of dynamic system parent
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virtual void | calcxSize () |
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virtual void | calclaSize (int j) |
| calculates size of contact force parameters
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virtual void | calcgSize (int j) |
| calculates size of relative distances
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virtual void | calcgdSize (int j) |
| calculates size of gap velocities More...
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virtual void | calcrFactorSize (int j) |
| calculates size of rfactors
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virtual void | calcsvSize () |
| calculates size of stopvector (root function for event driven integration)
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virtual void | calcLinkStatusSize () |
| calculates size of vector LinkStatus
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virtual void | calcLinkStatusRegSize () |
| calculates size of vector LinkStatusReg
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virtual void | init (InitStage stage) |
| plots time series header More...
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virtual bool | isSetValued () const |
| asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued More...
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virtual bool | isSingleValued () const |
| asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...
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virtual void | updateLinkStatus () |
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virtual void | updateLinkStatusReg () |
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virtual bool | isActive () const |
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virtual bool | gActiveChanged () |
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virtual bool | detectImpact () |
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virtual void | solveImpactsFixpointSingle () |
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virtual void | solveConstraintsFixpointSingle () |
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virtual void | solveImpactsGaussSeidel () |
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virtual void | solveConstraintsGaussSeidel () |
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virtual void | solveImpactsRootFinding () |
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virtual void | solveConstraintsRootFinding () |
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virtual void | jacobianConstraints () |
| computes JACOBIAN and mass action matrix of nonlinear contact equations
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virtual void | jacobianImpacts () |
| computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level
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virtual void | updaterFactors () |
| update relaxation factors for contact equations
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virtual void | checkConstraintsForTermination () |
| verify underlying force laws concerning given tolerances
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virtual void | checkImpactsForTermination () |
| verify underlying force laws on velocity level concerning given tolerances
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virtual void | checkActive (int j) |
| check if set-valued contacts are active and set corresponding attributes More...
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virtual void | LinearImpactEstimation (double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int *IndInActive_, fmatvec::Vec &gAct_, int *IndActive_) |
| get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next step More...
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virtual void | SizeLinearImpactEstimation (int *sizeInActive_, int *sizeActive_) |
| calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInActive
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virtual std::string | getType () const |
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virtual void | plot () |
| plots time dependent data More...
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virtual void | closePlot () |
| closes plot file
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVContactPoints, tag,(optional(size,(double), 1)(offset,(double), 1)(transparency,(double), 0))) |
| Draw two OpenMBV::Frame's of size 'size' at the contact points if 'enable'==true, otherwise the object is available but disabled. If the contact is closed, then the two contact points are the same on each contour. If the contact is not closed, then the two contact point lie on the contours with minimal distance in between. The x-axis of this frames are orientated to the other frame origin (normal vector).
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void | setOpenMBVContactPoints (const std::shared_ptr< OpenMBV::Frame > &frame) |
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVNormalForce, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0))) |
| Sets the OpenMBV::Arrow to be used for drawing the normal force vector. This vector is the force which is applied on the second contour. The reactio (not drawn) is applied on the first contour.
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void | setOpenMBVNormalForce (const std::shared_ptr< OpenMBV::Arrow > &arrow) |
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| BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVTangentialForce, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBV::Arrow::ReferencePoint), OpenMBV::Arrow::toPoint)(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0))) |
| Sets the OpenMBV::Arrow to be used for drawing the friction force vector. This vector is the friction which is applied on the second contour. The reactio (not drawn) is applied on the frist contour. If using a set-valued friction law, then the arrow is drawn in green if the contact is in slip and in red, if the contact is in stick.
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void | setOpenMBVTangentialForce (const std::shared_ptr< OpenMBV::Arrow > &arrow) |
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void | setNormalForceLaw (GeneralizedForceLaw *fcl_) |
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GeneralizedForceLaw * | getNormalForceLaw () const |
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void | setNormalImpactLaw (GeneralizedImpactLaw *fnil_) |
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void | setTangentialForceLaw (FrictionForceLaw *fdf_) |
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void | setTangentialImpactLaw (FrictionImpactLaw *ftil_) |
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void | setContactKinematics (ContactKinematics *ck) |
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ContactKinematics * | getContactKinematics () const |
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virtual int | getFrictionDirections () const |
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virtual void | initializeUsingXML (xercesc::DOMElement *element) |
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void | calccorrSize (int j) |
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void | updatecorr (int j) |
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void | checkRoot () |
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| ContourLink (const std::string &name) |
| constructor More...
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| ~ContourLink () |
| destructor
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virtual void | updatedhdz () |
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virtual void | updateWRef (const fmatvec::Mat &ref, int i=0) |
| references to contact force direction matrix of dynamic system parent
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virtual void | updateVRef (const fmatvec::Mat &ref, int i=0) |
| references to condensed contact force direction matrix of dynamic system parent
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virtual void | updatehRef (const fmatvec::Vec &hRef, int i=0) |
| references to complete and link smooth force vector of dynamic system parent
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virtual void | updatedhdqRef (const fmatvec::Mat &ref, int i=0) |
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virtual void | updatedhduRef (const fmatvec::SqrMat &ref, int i=0) |
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virtual void | updatedhdtRef (const fmatvec::Vec &ref, int i=0) |
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virtual void | updaterRef (const fmatvec::Vec &ref, int i=0) |
| references to nonsmooth force vector of dynamic system parent
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void | connect (Contour *contour0, Contour *contour1) |
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Contour * | getContour (int i) |
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ContourFrame * | getContourFrame (int i) |
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virtual void | updateForceDirections () |
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void | updateForce () |
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void | updateMoment () |
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const fmatvec::Vec3 & | evalGlobalRelativePosition () |
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const fmatvec::Vec3 & | evalGlobalRelativeVelocity () |
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const fmatvec::Vec3 & | evalGlobalRelativeAngularVelocity () |
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const fmatvec::Mat3xV & | evalGlobalForceDirection () |
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const fmatvec::Mat3xV & | evalGlobalMomentDirection () |
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const fmatvec::Vec3 & | evalForce () |
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const fmatvec::Vec3 & | evalMoment () |
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void | setOpenMBVForce (const std::shared_ptr< OpenMBV::Arrow > &arrow) |
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void | setOpenMBVMoment (const std::shared_ptr< OpenMBV::Arrow > &arrow) |
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| Link (const std::string &name) |
| constructor More...
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virtual | ~Link () |
| destructor
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virtual void | updateJacobians (int j=0) |
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virtual void | updateb () |
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virtual void | updatedx () |
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virtual void | updatexd () |
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virtual const fmatvec::Vec & | getx () const |
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virtual fmatvec::Vec & | getx () |
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virtual void | setxInd (int xInd_) |
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virtual int | getxSize () const |
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virtual void | updatexRef (const fmatvec::Vec &ref) |
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virtual void | updatexdRef (const fmatvec::Vec &ref) |
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virtual void | updatedxRef (const fmatvec::Vec &ref) |
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virtual void | updatebRef (const fmatvec::Mat &hRef) |
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virtual void | initz () |
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virtual void | writez (H5::GroupBase *group) |
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virtual void | readz0 (H5::GroupBase *group) |
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virtual void | setbInd (int bInd_) |
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virtual void | updatewbRef (const fmatvec::Vec &ref) |
| references to TODO of dynamic system parent
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virtual void | deletelaRef () |
| delete reference to contact force parameter of dynamic system parent
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virtual void | updategRef (const fmatvec::Vec &ref) |
| references to contact relative distances of dynamic system parent
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virtual void | updateresRef (const fmatvec::Vec &ref) |
| references to residuum of nonlinear contact equations of dynamic system parent
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virtual void | updaterFactorRef (const fmatvec::Vec &ref) |
| references to rfactors of dynamic system parent
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virtual void | updatesvRef (const fmatvec::Vec &sv) |
| references to stopvector of dynamic system parent (root function for event driven integration)
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virtual void | updatejsvRef (const fmatvec::VecInt &jsvParent) |
| references to stopvector evaluation of dynamic system parent (root detection with corresponding bool array by event driven integrator)
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virtual void | updateLinkStatusRef (const fmatvec::VecInt &LinkStatusParent) |
| reference to vector of link status (for set valued links with piecewise link equations)
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virtual void | updateLinkStatusRegRef (const fmatvec::VecInt &LinkStatusRegParent) |
| reference to vector of link status (for single-valued links)
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virtual void | calcbSize () |
| calculates size of rfactors
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virtual bool | hasSmoothPart () const |
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virtual double | evalPotentialEnergy () |
| compute potential energy
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virtual void | setlaTol (double tol) |
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virtual void | setLaTol (double tol) |
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virtual void | setgTol (double tol) |
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virtual void | setgdTol (double tol) |
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virtual void | setgddTol (double tol) |
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virtual void | setrMax (double rMax_) |
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virtual void | setLinkStatusInd (int LinkStatusInd_) |
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virtual void | setLinkStatusRegInd (int LinkStatusRegInd_) |
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virtual void | setlaInd (int laInd_) |
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virtual void | setgInd (int gInd_) |
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virtual void | setgdInd (int gdInd_) |
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virtual void | setrFactorInd (int rFactorInd_) |
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virtual void | updatecorrRef (const fmatvec::Vec &ref) |
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virtual void | setcorrInd (int corrInd_) |
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void | setx (const fmatvec::Vec &x_) |
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virtual void | setsvInd (int svInd_) |
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int | getsvSize () const |
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int | getLinkStatusSize () const |
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int | getLinkStatusRegSize () const |
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const fmatvec::Vec & | getla (bool check=true) const |
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const fmatvec::Vec & | getLa (bool check=true) const |
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fmatvec::Vec & | getla (bool check=true) |
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fmatvec::Vec & | getLa (bool check=true) |
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int | getlaInd () const |
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int | getlaSize () const |
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int | getbSize () const |
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const fmatvec::Vec & | evalg () |
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const fmatvec::Vec & | evalgd () |
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const fmatvec::Vec & | evalla () |
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const fmatvec::Vec & | evalLa () |
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const fmatvec::Vec & | evalwb () |
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const fmatvec::Vec & | evalxd () |
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int | getgdInd () const |
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int | getgSize () const |
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int | getgdSize () const |
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int | getrFactorSize () const |
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const fmatvec::VecInt & | getrFactorUnsure () const |
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const fmatvec::VecV & | evalGeneralizedRelativePosition () |
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const fmatvec::VecV & | evalGeneralizedRelativeVelocity () |
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const fmatvec::VecV & | evalGeneralizedForce () |
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fmatvec::VecV & | getGeneralizedForce (bool check=true) |
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void | savela () |
| saves contact forces for use as starting value in next time step
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void | saveLa () |
| saves contact impulses for use as starting value in next time step
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void | initla () |
| load contact forces for use as starting value
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void | initLa () |
| load contact impulses for use as starting value
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void | decreaserFactors () |
| decrease rfactor if mass action matrix is not diagonal dominant (cf. Foerg: Dissertation, page 80 et seq.)
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int | getcorrSize () const |
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| Element (const std::string &name) |
| constructor
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virtual | ~Element () |
| destructor
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virtual void | initDataInterfaceBase (DynamicSystemSolver *parentds) |
| TODO.
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virtual void | setDynamicSystemSolver (DynamicSystemSolver *sys) |
| sets the used dynamics system solver to the element More...
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virtual void | plotAtSpecialEvent () |
| plots time dependent data at special events More...
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const std::string & | getName () const |
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void | setName (const std::string &str) |
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void | setPath (const std::string &str) |
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DynamicSystemSolver * | getDynamicSystemSolver () |
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virtual void | createPlotGroup () |
| creates the plotGroup for H5-output
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H5::GroupBase * | getPlotGroup () |
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virtual void | setPlotFeature (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature. More...
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void | setPlotFeatureForChildren (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature for the children of this object. More...
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void | setPlotFeatureRecursive (PlotFeature pf, PlotFeatureStatus value) |
| Set a plot feature for this object and the children of this object. More...
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PlotFeatureStatus | getPlotFeature (PlotFeature pf) |
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PlotFeatureStatus | getPlotFeatureForChildren (PlotFeature pf) |
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PlotFeatureStatus | initializePlotFeatureStatusUsingXML (xercesc::DOMElement *e) |
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PlotFeature | initializePlotFeatureUsingXML (xercesc::DOMElement *e) |
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const std::vector
< MBXMLUtils::EmbedDOMLocator > & | getLocationStack () const |
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template<class T > |
T * | getByPath (const std::string &path, bool initialCaller=true) const |
| Get the object of type T represented by the path path. Do not set any argurment other than path!
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std::string | getPath (const Element *relTo=NULL, std::string sep="/") const |
| Return the path of this object. If relativeTo is not NULL return a relative path to relativeTo. Do not set any argurment other than relTo and sep!
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virtual Element * | getChildByContainerAndName (const std::string &container, const std::string &name) const |
| Get the Element named name in the container named container.
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virtual std::shared_ptr
< OpenMBV::Group > | getOpenMBVGrp () |
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virtual Element * | getParent () |
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virtual const Element * | getParent () const |
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virtual void | setParent (Element *parent_) |
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std::vector< Element * > | getDependencies () const |
| checks dependency on other elements. More...
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void | addDependency (Element *ele) |
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int | computeLevel () |
| computes the length of the pathes in the graph that represents the dependencies between all elements. More...
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virtual void | updateVelocities (Frame *frame) |
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virtual void | updateAccelerations (Frame *frame) |
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virtual void | updateJacobians (Frame *frame, int j=0) |
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virtual void | updateGyroscopicAccelerations (Frame *frame) |
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const double & | getTime () const |
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double | getStepSize () const |
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Atom & | operator= (const Atom &) |
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void | setMessageStreamActive (MsgType type, bool active) |
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void | getMessageStream (MsgType type, std::shared_ptr< bool > &a, std::shared_ptr< std::ostream > &s) |
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void | adoptMessageStreams (const Atom *src=NULL) |
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std::ostream & | msg (MsgType type) |
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bool | msgAct (MsgType type) |
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