base class for all mechanical bodies with mass and generalised coordinates More...

#include <body.h>

Inheritance diagram for MBSim::Body:

Public Member Functions
	Body (const std::string &name)
	constructor More...

	~Body () override
	destructor

void	setGeneralizedInitialPosition (const fmatvec::Vec &q0_)

void	setGeneralizedInitialVelocity (const fmatvec::Vec &u0_)

void	setGeneralizedInitialPosition (double q0_)

void	setGeneralizedInitialVelocity (double u0_)

void	sethSize (int hSize_, int i=0) override

void	sethInd (int hInd_, int i=0) override

void	plot () override
	plots time dependent data More...

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override
	sets the used dynamics system solver to the element More...

void	init (InitStage stage, const InitConfigSet &config) override
	plots time series header More...

void	createPlotGroup () override
	creates the plotGroup for H5-output More...

virtual Contour *	getContour (const std::string &name, bool check=true) const

virtual Frame *	getFrame (const std::string &name, bool check=true) const

virtual Frame *	getFrameOfReference ()

virtual const Frame *	getFrameOfReference () const

virtual void	setFrameOfReference (Frame *frame)

const std::vector< Frame * > &	getFrames () const

const std::vector< Contour * > &	getContours () const

std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp () override

std::shared_ptr< OpenMBV::Body > &	getOpenMBVBody ()

std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp () override

std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp () override

H5::GroupBase *	getFramesPlotGroup () override

H5::GroupBase *	getContoursPlotGroup () override

int	frameIndex (const Frame *frame_) const

int	contourIndex (const Contour *contour_) const

void	initializeUsingXML (xercesc::DOMElement *element) override

Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const override
	Get the Element named name in the container named container. More...

fmatvec::Mat3xV &	getPJT (int i=0, bool check=true)

fmatvec::Mat3xV &	getPJR (int i=0, bool check=true)

const fmatvec::Mat3xV &	evalPJT ()

const fmatvec::Mat3xV &	evalPJR ()

void	resetUpToDate () override

virtual void	resetPositionsUpToDate ()

virtual void	resetVelocitiesUpToDate ()

virtual void	resetJacobiansUpToDate ()

virtual void	resetGyroscopicAccelerationsUpToDate ()

virtual void	updateJacobians ()

virtual void	addFrame (Frame *frame)

virtual void	addContour (Contour *contour)

Public Member Functions inherited from MBSim::Object
	Object (const std::string &name)
	constructor

virtual void	calcSize ()

int	getGeneralizedPositionSize ()

int	getGeneralizedVelocitySize ()

virtual void	updateT ()

virtual void	updateh (int j=0)

virtual void	updateM ()

virtual void	updatedhdz ()

virtual void	updatedq ()

virtual void	updatedu ()

virtual void	updateud ()

virtual void	updateqd ()

virtual void	sethSize (int hSize_, int i=0)

int	gethSize (int i=0) const

int	getqSize () const

int	getuSize (int i=0) const

virtual void	calcqSize ()

virtual void	calcuSize (int j)

int	getqInd ()

int	getuInd (int i=0)

virtual void	setqInd (int qInd_)

virtual void	setuInd (int uInd_, int i=0)

const fmatvec::Vec &	getq () const

const fmatvec::Vec &	getu () const

virtual H5::GroupBase *	getPlotGroup ()

void	plot () override
	plots time dependent data More...

virtual void	updateqRef (fmatvec::Vec &qRef)
	references to positions of dynamic system parent More...

virtual void	updateqdRef (fmatvec::Vec &qdRef)
	references to differentiated positions of dynamic system parent More...

virtual void	updatedqRef (fmatvec::Vec &dqRef)
	references to differentiated positions of dynamic system parent More...

virtual void	updateuRef (fmatvec::Vec &uRef)
	references to velocities of dynamic system parent More...

virtual void	updateuallRef (fmatvec::Vec &uallRef)
	references to velocities of dynamic system parent More...

virtual void	updateudRef (fmatvec::Vec &udRef)
	references to differentiated velocities of dynamic system parent More...

virtual void	updateduRef (fmatvec::Vec &duRef)
	references to differentiated velocities of dynamic system parent More...

virtual void	updateudallRef (fmatvec::Vec &udallRef)
	references to differentiated velocities of dynamic system parent More...

virtual void	updatehRef (fmatvec::Vec &hRef, int i=0)
	references to smooth force vector of dynamic system parent More...

virtual void	updatedhdqRef (fmatvec::Mat &dhdqRef, int i=0)
	references to object Jacobian for implicit integration of dynamic system parent regarding positions More...

virtual void	updatedhduRef (fmatvec::SqrMat &dhduRef, int i=0)
	references to object Jacobian for implicit integration of dynamic system parent regarding velocities More...

virtual void	updatedhdtRef (fmatvec::Vec &dhdtRef, int i=0)
	references to object Jacobian for implicit integration of dynamic system parent regarding time More...

virtual void	updaterRef (fmatvec::Vec &ref, int i=0)
	references to nonsmooth force vector of dynamic system parent More...

virtual void	updaterdtRef (fmatvec::Vec &ref)
	references to nonsmooth force vector of dynamic system parent More...

virtual void	updateTRef (fmatvec::Mat &ref)
	references to linear transformation matrix between differentiated positions and velocities of dynamic system parent More...

virtual void	updateMRef (fmatvec::SymMat &ref)
	references to mass matrix of dynamic system parent More...

virtual void	updateLLMRef (fmatvec::SymMat &ref)
	references to Cholesky decomposition of dynamic system parent More...

void	init (InitStage stage, const InitConfigSet &config) override
	initialize object at start of simulation with respect to contours and frames More...

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)
	writes its z-Vector to a subgroup of the given group

virtual void	readz0 (H5::GroupBase *group)
	reads the z-Vector of a subgroup of the given group

virtual void	updateLLM ()
	perform Cholesky decomposition of mass martix

virtual void	setUpInverseKinetics ()
	TODO. More...

void	setqSize (int qSize_)

void	setuSize (int uSize_, int i=0)

int	getzSize () const

virtual void	sethInd (int hInd_, int i=0)

int	gethInd (int i=0)

const fmatvec::SymMat &	getM (bool check=true) const

fmatvec::SymMat &	getM (bool check=true)

const fmatvec::Vec &	geth (int i=0, bool check=true) const

fmatvec::Vec &	geth (int i=0, bool check=true)

fmatvec::Vec &	getq ()

fmatvec::Vec &	getu ()

const fmatvec::Vec &	getq0 () const

const fmatvec::Vec &	getu0 () const

fmatvec::Vec &	getq0 ()

fmatvec::Vec &	getu0 ()

const fmatvec::Mat &	evalT ()

const fmatvec::Vec &	evalh (int i=0)

const fmatvec::SymMat &	evalM ()

const fmatvec::SymMat &	evalLLM ()

const fmatvec::Vec &	evalr (int i=0)

const fmatvec::Vec &	evalrdt ()

const fmatvec::Vec &	evalqd ()

const fmatvec::Vec &	evalud ()

const fmatvec::Vec &	evaludall ()

fmatvec::Vec &	getud (bool check=true)

fmatvec::Vec &	getudall (bool check=true)

void	resetUpToDate () override

virtual void	updateGeneralizedPositions ()

virtual void	updateGeneralizedVelocities ()

virtual void	updateGeneralizedAccelerations ()

virtual void	updateDerivativeOfGeneralizedPositions ()

const fmatvec::VecV &	evalGeneralizedPosition ()

const fmatvec::VecV &	evalGeneralizedVelocity ()

const fmatvec::VecV &	evalDerivativeOfGeneralizedPosition ()

const fmatvec::VecV &	evalGeneralizedAcceleration ()

fmatvec::VecV &	getGeneralizedPosition (bool check=true)

fmatvec::VecV &	getGeneralizedVelocity (bool check=true)

fmatvec::VecV &	getDerivativeOfGeneralizedPosition (bool check=true)

fmatvec::VecV &	getGeneralizedAcceleration (bool check=true)

void	setq (const fmatvec::Vec &q_)

void	setu (const fmatvec::Vec &u_)

bool	hasNonCostantMassMatrix ()

void	initializeUsingXML (xercesc::DOMElement *element) override

void	createPlotGroup () override
	creates the plotGroup for H5-output More...

Public Member Functions inherited from MBSim::Element
	Element (const std::string &name)
	constructor

	~Element () override=default
	destructor

void	throwError (const std::string &msg) const

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)
	sets the used dynamics system solver to the element More...

virtual void	plot ()
	plots time dependent data More...

virtual void	plotAtSpecialEvent ()
	plots time dependent data at special events More...

const std::string &	getName () const

void	setName (const std::string &str)

void	setPath (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())
	plots time series header More...

virtual void	createPlotGroup ()
	creates the plotGroup for H5-output More...

H5::GroupBase *	getPlotGroup ()

virtual H5::GroupBase *	getFramesPlotGroup ()

virtual H5::GroupBase *	getContoursPlotGroup ()

virtual H5::GroupBase *	getGroupsPlotGroup ()

virtual H5::GroupBase *	getObjectsPlotGroup ()

virtual H5::GroupBase *	getLinksPlotGroup ()

virtual H5::GroupBase *	getConstraintsPlotGroup ()

virtual H5::GroupBase *	getObserversPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)
	Set a plot feature. More...

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for the children of this object. More...

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)
	Set a plot feature for this object and the children of this object. More...

template<class T >
void	setPlotAttribute (const std::string &name, const T &value)
	Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.

void	setPlotAttribute (const std::string &name)

virtual void	initializeUsingXML (xercesc::DOMElement *element)

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!

std::string	getPath (const Element *relTo=nullptr, 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!

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const
	Get the Element named name in the container named container. More...

virtual std::shared_ptr< OpenMBV::Group >	getOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getFramesOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getContoursOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getGroupsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObjectsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getLinksOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getConstraintsOpenMBVGrp ()

virtual std::shared_ptr< OpenMBV::Group >	getObserversOpenMBVGrp ()

virtual Element *	getParent ()

virtual const Element *	getParent () const

virtual void	setParent (Element *parent_)

std::vector< Element * >	getDependencies () const
	checks dependency on other elements. More...

void	addDependency (Element *ele)

int	computeLevel ()
	computes the length of the pathes in the graph that represents the dependencies between all elements. More...

virtual void	updatePositions (Frame *frame)

virtual void	updateVelocities (Frame *frame)

virtual void	updateAccelerations (Frame *frame)

virtual void	updateJacobians (Frame *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame *frame)

virtual void	resetUpToDate ()

const double &	getTime () const

double	getStepSize () const

const MBXMLUtils::DOMEvalException &	getDOMEvalError () const

Protected Attributes
std::vector< Frame * >	frame
	vector of frames and contours

std::vector< Contour * >	contour

Frame *	R
	frame of reference of the object

fmatvec::Mat3xV	PJT [2]

fmatvec::Mat3xV	PJR [2]

bool	updPos

bool	updVel

bool	updPJ

std::shared_ptr< OpenMBV::Body >	openMBVBody

std::shared_ptr< OpenMBV::Group >	openMBVGrp

std::shared_ptr< OpenMBV::Group >	framesOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	contoursOpenMBVGrp

H5::GroupBase *	framesPlotGroup

H5::GroupBase *	contoursPlotGroup

Protected Attributes inherited from MBSim::Object
int	nq

int	nu

int	qSize
	size of object positions

int	uSize [2]
	size of object velocities

int	hSize [2]
	size of object h-vector (columns of J)

int	qInd
	indices of positions, velocities, right hand side

int	uInd [2]

int	hInd [2]

fmatvec::Vec	q
	positions, velocities

fmatvec::Vec	u

fmatvec::Vec	uall

fmatvec::Vec	q0
	initial position, velocity

fmatvec::Vec	u0

fmatvec::Vec	qd
	differentiated positions, velocities

fmatvec::Vec	ud

fmatvec::Vec	dq

fmatvec::Vec	du

fmatvec::Vec	udall

fmatvec::Vec	h [2]
	complete and object smooth and nonsmooth right hand side

fmatvec::Vec	r [2]

fmatvec::Vec	rdt

fmatvec::Mat	W [2]

fmatvec::Mat	V [2]

fmatvec::Mat	dhdq
	Jacobians of h.

fmatvec::SqrMat	dhdu

fmatvec::Vec	dhdt

fmatvec::Mat	T
	linear relation matrix of differentiated position and velocity parameters

fmatvec::SymMat	M
	mass matrix

fmatvec::SymMat	LLM
	LU-decomposition of mass matrix.

fmatvec::VecV	qRel

fmatvec::VecV	uRel

fmatvec::VecV	qdRel

fmatvec::VecV	udRel

bool	updSize

bool	updq

bool	updu

bool	updqd

bool	updud

bool	nonConstantMassMatrix {true}

Protected Attributes inherited from MBSim::Element
Element *	parent { nullptr }

std::string	name
	name of element

std::string	path
	The path of this object. Is set during the init stage reorganizeHierarchy. Before this the path is calculated dynamically using getPath() after this stage getPath just returns this value.

MBXMLUtils::DOMEvalException	domEvalError
	Special XML helper variable.

DynamicSystemSolver *	ds { nullptr }
	dynamic system

H5::VectorSerie< double > *	plotVectorSerie { nullptr }
	time series

std::vector< double >	plotVector
	one entry of time series

std::vector< std::string >	plotColumns
	columns of time series

H5::GroupBase *	plotGroup { nullptr }
	associated plot group

std::vector< Element * >	dependency
	vector containing all dependencies.

PlotFeatureMap	plotFeature
	plot feature

PlotFeatureMap	plotFeatureForChildren

std::map< std::string, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > >	plotAttribute

Private Attributes
std::string	saved_frameOfReference

Additional Inherited Members
Public Types inherited from MBSim::Element
enum	InitStage { resolveStringRef =0 , preInit , plotting , unknownStage , LASTINITSTAGE }
	The stages of the initialization. More...

Protected Member Functions inherited from MBSim::Element
void	updatePlotFeatures ()

void	addToPlot (const std::string &name)

void	addToPlot (const std::string &name, int size)

void	addToPlot (const std::string &name, const std::vector< std::string > &iname)

template<class AT >
void	plot (const AT &x)

template<class Type , class AT >
void	plot (const fmatvec::Vector< Type, AT > &x)

Detailed Description

base class for all mechanical bodies with mass and generalised coordinates

Author: Martin Foerg

Date: 2009-04-06 object and body divided (Markus Schneider)

The following part is only a test for equation and image output for the XML documentation. A not inline equation

\[ \int_a^b\sin(x)dx +5 \]

And a inline equation \(x_a+\cos(x)\). And a image

The image caption

End of the test.

Constructor & Destructor Documentation

◆ Body()

MBSim::Body::Body ( const std::string & name )

constructor

Parameters

name of body

Member Function Documentation

◆ addContour()

void MBSim::Body::addContour ( Contour * contour )

virtual

Parameters

contour to add

◆ addFrame()

void MBSim::Body::addFrame ( Frame * frame )

virtual

Parameters

frame to add

◆ contourIndex()

int MBSim::Body::contourIndex ( const Contour * contour_ ) const

Parameters

contour

Returns: index of contour

◆ createPlotGroup()

void MBSim::Body::createPlotGroup ( )

overridevirtual

creates the plotGroup for H5-output

Reimplemented from MBSim::Element.

◆ frameIndex()

int MBSim::Body::frameIndex ( const Frame * frame_ ) const

Parameters

frame

Returns: index of frame

◆ getChildByContainerAndName()

Element * MBSim::Body::getChildByContainerAndName	(	const std::string &	container,
		const std::string &	name
	)		const

overridevirtual

Get the Element named name in the container named container.

Reimplemented from MBSim::Element.

◆ getContour()

Contour * MBSim::Body::getContour	(	const std::string &	name,
		bool	check = `true`
	)		const

virtual

Parameters

name	of the contour
flag	for checking existence

Returns: contour

◆ getContoursOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::Body::getContoursOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getContoursPlotGroup()

H5::GroupBase * MBSim::Body::getContoursPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getFrame()

Frame * MBSim::Body::getFrame	(	const std::string &	name,
		bool	check = `true`
	)		const

virtual

Parameters

name	of the frame
flag	for checking existence

Returns: frame

◆ getFrameOfReference() [1/2]

virtual Frame * MBSim::Body::getFrameOfReference ( )

inlinevirtual

Returns: frame of reference

◆ getFrameOfReference() [2/2]

virtual const Frame * MBSim::Body::getFrameOfReference ( ) const

inlinevirtual

Returns: frame of reference

◆ getFramesOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::Body::getFramesOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getFramesPlotGroup()

H5::GroupBase * MBSim::Body::getFramesPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::Body::getOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ init()

void MBSim::Body::init	(	InitStage	stage,
		const InitConfigSet &	config
	)

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

Reimplemented in MBSim::RigidBody.

◆ initializeUsingXML()

void MBSim::Body::initializeUsingXML ( xercesc::DOMElement * element )

overridevirtual

Reimplemented from MBSim::Element.

◆ plot()

void MBSim::Body::plot ( )

overridevirtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

Reimplemented in MBSim::RigidBody.

◆ resetUpToDate()

void MBSim::Body::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::Element.

◆ setDynamicSystemSolver()

void MBSim::Body::setDynamicSystemSolver ( DynamicSystemSolver * sys )

overridevirtual

sets the used dynamics system solver to the element

Parameters

pointer to the dynamic system solver of which the element is part of

Reimplemented from MBSim::Element.

Reimplemented in MBSim::RigidBody.

◆ setFrameOfReference()

virtual void MBSim::Body::setFrameOfReference ( Frame * frame )

inlinevirtual

Parameters

frame of reference

◆ sethInd()

void MBSim::Body::sethInd	(	int	hInd_,
		int	i = `0`
	)

overridevirtual

Reimplemented from MBSim::Object.

◆ sethSize()

void MBSim::Body::sethSize	(	int	hSize_,
		int	i = `0`
	)

overridevirtual

Reimplemented from MBSim::Object.

Member Data Documentation

◆ PJT

fmatvec::Mat3xV MBSim::Body::PJT[2]

protected

JACOBIAN of translation, rotation and their derivatives in parent system

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

/mbsim-env/mbsim/kernel/mbsim/objects/body.h
/mbsim-env/mbsim/kernel/mbsim/objects/body.cc

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ addContour()

◆ addFrame()

◆ contourIndex()

◆ createPlotGroup()

◆ frameIndex()

◆ getChildByContainerAndName()

◆ getContour()

◆ getContoursOpenMBVGrp()

◆ getContoursPlotGroup()

◆ getFrame()

◆ getFrameOfReference() [1/2]

◆ getFrameOfReference() [2/2]

◆ getFramesOpenMBVGrp()

◆ getFramesPlotGroup()

◆ getOpenMBVGrp()

◆ init()

◆ initializeUsingXML()

◆ plot()

◆ resetUpToDate()

◆ setDynamicSystemSolver()

◆ setFrameOfReference()

◆ sethInd()

◆ sethSize()

Member Data Documentation

◆ PJT