basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies More...

#include <contour.h>

Inheritance diagram for MBSim::Contour:

[legend]

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

	~Contour () override=default
	destructor

virtual ContactKinematics *	findContactPairingWith (const std::type_info &type0, const std::type_info &type1)=0
	find contact kinematics More...

virtual ContourFrame *	createContourFrame (const std::string &name="P")

const std::vector< double > &	getEtaNodes () const

const std::vector< double > &	getXiNodes () const

void	setEtaNodes (const std::vector< double > &etaNodes_)

void	setXiNodes (const std::vector< double > &xiNodes_)

virtual int	gethSize (int i=0) const

virtual int	gethInd (int i=0) const

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

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

virtual fmatvec::Vec3	evalPosition (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWs (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWt (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWN (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWR (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWU (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWV (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvCParEta (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvCParXi (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalParWvCParZeta (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWnPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWuPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec2	evalZeta (const fmatvec::Vec3 &WrPS)

virtual fmatvec::Vec2	evalCurvatures (const fmatvec::Vec2 &zeta)

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setThickness (double thickness_)

double	getThickness () const

virtual bool	isZetaOutside (const fmatvec::Vec2 &zeta)

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
int	hSize [2]
	size and index of right hand side for frame JACOBIAN settings

int	hInd [2]

std::vector< double >	etaNodes

std::vector< double >	xiNodes

double	thickness
	thickness of contour

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

Static Protected Attributes
static fmatvec::Vec3	zero3

static fmatvec::Vec3	ex

static fmatvec::Vec3	ey

static fmatvec::Vec3	ez

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

basic class for contour definition for rigid (which do not know about their shape) and flexible (they know how they look like) bodies

Author: Martin Foerg

Date: 2009-03-23 some comments (Thorsten Schindler); 2009-04-20 RigidContour added (Thorsten Schindler); 2009-06-04 not rigid things are in separate files; 2009-07-16 split from concret contours into new folder contours

kinematics is stored in coordinate system class and is individually evaluated in specific contact kinematics

Constructor & Destructor Documentation

◆ Contour()

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

constructor

Parameters

name	of contour

Member Function Documentation

◆ createPlotGroup()

void MBSim::Contour::createPlotGroup ( )

overridevirtual

creates the plotGroup for H5-output

Reimplemented from MBSim::Element.

◆ evalParDer1Wn()

Vec3 MBSim::Contour::evalParDer1Wn ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of normal in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, and MBSim::RigidContour.

◆ evalParDer1Wu()

Vec3 MBSim::Contour::evalParDer1Wu ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of first tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, and MBSim::RigidContour.

◆ evalParDer1Wv()

Vec3 MBSim::Contour::evalParDer1Wv ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of second tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, and MBSim::RigidContour.

◆ evalParDer2Wn()

Vec3 MBSim::Contour::evalParDer2Wn ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of normal in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Plane, and MBSim::RigidContour.

◆ evalParDer2Wu()

Vec3 MBSim::Contour::evalParDer2Wu ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of first tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Circle, MBSim::Cylinder, MBSim::Plane, MBSim::RigidContour, and MBSim::Sphere.

◆ evalParDer2Wv()

Vec3 MBSim::Contour::evalParDer2Wv ( const fmatvec::Vec2 & zeta )

virtual

Returns: derivative of second tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Plane, and MBSim::RigidContour.

◆ evalPosition()

Vec3 MBSim::Contour::evalPosition ( const fmatvec::Vec2 & zeta )

virtual

Returns: position in world frame

Parameters

contour position

Reimplemented in MBSim::RigidContour.

◆ evalWn()

Vec3 MBSim::Contour::evalWn ( const fmatvec::Vec2 & zeta )

virtual

Returns: normal in world frame

Parameters

contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::PlanarContour, MBSim::Plane, and MBSim::RigidContour.

◆ evalWs()

Vec3 MBSim::Contour::evalWs ( const fmatvec::Vec2 & zeta )

virtual

Returns: first tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, MBSim::Point, and MBSim::RigidContour.

◆ evalWt()

Vec3 MBSim::Contour::evalWt ( const fmatvec::Vec2 & zeta )

virtual

Returns: second tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Circle, MBSim::Line, MBSim::LineSegment, MBSim::Plane, MBSim::Point, and MBSim::RigidContour.

◆ evalWu()

Vec3 MBSim::Contour::evalWu ( const fmatvec::Vec2 & zeta )

virtual

Returns: first tangent in world frame

Parameters

t	time
cp	contour position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, and MBSim::RigidContour.

◆ evalWv()

Vec3 MBSim::Contour::evalWv ( const fmatvec::Vec2 & zeta )

virtual

Returns: second tangent in world frame

Parameters

Lagrangian position

Reimplemented in MBSim::Line, MBSim::LineSegment, MBSim::Plane, and MBSim::RigidContour.

◆ evalZeta()

Vec2 MBSim::Contour::evalZeta ( const fmatvec::Vec3 & WrPS )

virtual

Reimplemented in MBSim::PolynomialFrustum.

◆ findContactPairingWith()

virtual ContactKinematics * MBSim::Contour::findContactPairingWith	(	const std::type_info &	type0,
		const std::type_info &	type1
	)

pure virtual

find contact kinematics

Author: Markus Schneider

Date: 2010-11-05 initial commit (Markus Schneider)

Implemented in MBSim::RigidContour.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::Element.

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

/mbsim-env/mbsim/kernel/mbsim/contours/contour.h
/mbsim-env/mbsim/kernel/mbsim/contours/contour.cc

Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Contour()

Member Function Documentation

◆ createPlotGroup()

◆ evalParDer1Wn()

◆ evalParDer1Wu()

◆ evalParDer1Wv()

◆ evalParDer2Wn()

◆ evalParDer2Wu()

◆ evalParDer2Wv()

◆ evalPosition()

◆ evalWn()

◆ evalWs()

◆ evalWt()

◆ evalWu()

◆ evalWv()

◆ evalZeta()

◆ findContactPairingWith()

◆ initializeUsingXML()