dynamic system as topmost hierarchical level More...

#include <dynamic_system.h>

Inheritance diagram for MBSim::DynamicSystem:

Public Member Functions
	DynamicSystem (const std::string &name)
	constructor

	~DynamicSystem () override
	destructor

virtual void	updateT ()

virtual void	updateh (int k=0)

virtual void	updateM ()

virtual void	updateLLM ()

virtual void	updatedq ()

virtual void	updatedu ()

virtual void	updatedx ()

virtual void	updateqd ()

virtual void	updateud ()

virtual void	updatexd ()

virtual void	updatezd ()

virtual void	updatewb ()

virtual void	updateW (int j=0)

virtual void	updateV (int j=0)

virtual void	updater (int j=0)

virtual void	updateJrla (int j=0)

virtual void	updateg ()

virtual void	updategd ()

virtual void	updateStopVector ()

virtual void	updateStopVectorParameters ()

virtual void	updateLinkStatus ()

virtual void	updateLinkStatusReg ()

virtual void	updateWInverseKinetics ()

virtual void	updatebInverseKinetics ()

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

virtual int	gethSize (int i=0) const

virtual int	getqSize () const

virtual int	getuSize (int i=0) const

virtual void	calcqSize ()

virtual void	calcuSize (int j=0)

virtual int	getuInd (int i=0)

virtual void	setqInd (int qInd_)

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

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

virtual void	setxInd (int xInd_)

virtual const fmatvec::Vec &	getq () const

virtual fmatvec::Vec &	getq ()

virtual const fmatvec::Vec &	getu () const

virtual fmatvec::Vec &	getu ()

void	setq (const fmatvec::Vec &q_)

void	setu (const fmatvec::Vec &u_)

void	setx (const fmatvec::Vec &x_)

void	setjsv (const fmatvec::VecInt &jsv_)

void	setInternalState (const fmatvec::Vec &internalState)

virtual H5::GroupBase *	getPlotGroup ()

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

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

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

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

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

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

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

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

virtual void	calcxSize ()

const fmatvec::Vec &	getx () const

fmatvec::Vec &	getx ()

int	getxSize () const

void	updatexRef (fmatvec::Vec &xParent)

void	updatexdRef (fmatvec::Vec &xdParent)

void	updatedxRef (fmatvec::Vec &dxParent)

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

virtual void	initz ()

virtual void	writez (H5::GroupBase *parent)

virtual void	readz0 (H5::GroupBase *parent)

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override

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

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

virtual int	solveConstraintsFixpointSingle ()
	solve contact equations with single step fixed point scheme More...

virtual int	solveImpactsFixpointSingle ()
	solve impact equations with single step fixed point scheme on velocity level More...

virtual int	solveConstraintsGaussSeidel ()
	solve contact equations with Gauss-Seidel scheme More...

virtual int	solveImpactsGaussSeidel ()
	solve impact equations with Gauss-Seidel scheme on velocity level More...

virtual int	solveConstraintsRootFinding ()
	solve contact equations with Newton scheme More...

virtual int	solveImpactsRootFinding ()
	solve impact equations with Newton scheme on velocity level More...

virtual int	jacobianConstraints ()
	compute JACOBIAN of contact equations

virtual int	jacobianImpacts ()
	compute JACOBIAN of contact equations on velocity level

virtual void	checkConstraintsForTermination ()
	validate force laws concerning given tolerances More...

virtual void	checkImpactsForTermination ()
	validate force laws concerning given tolerances on velocity level More...

virtual void	updaterFactors ()
	update relaxation factors for contact equations

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

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

void	setFrameOfReference (Frame *frame)

const Frame *	getFrameOfReference () const

const fmatvec::Mat &	getT (bool check=true) const

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

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

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

const fmatvec::Vec &	getdq (bool check=true) const

const fmatvec::Vec &	getdu (bool check=true) const

const fmatvec::Vec &	getdx (bool check=true) const

const fmatvec::Vec &	getqd (bool check=true) const

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

const fmatvec::Vec &	getxd (bool check=true) const

const fmatvec::Mat &	getW (int i=0, bool check=true) const

const fmatvec::Mat &	getV (int i=0, bool check=true) const

const fmatvec::Vec &	getwb (bool check=true) const

const fmatvec::Vec &	getla (bool check=true) const

const fmatvec::Vec &	getLa (bool check=true) const

const fmatvec::Vec &	getg (bool check=true) const

const fmatvec::Vec &	getgd (bool check=true) const

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

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

void	setla (const fmatvec::Vec &la_)

void	setLa (const fmatvec::Vec &La_)

fmatvec::VecInt &	getjsv ()

const fmatvec::VecInt &	getjsv () const

fmatvec::Mat &	getW (int i=0, bool check=true)

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

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

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

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

fmatvec::VecInt &	getLinkStatus ()

fmatvec::VecInt &	getLinkStatusReg ()

const fmatvec::VecInt &	getLinkStatus () const

const fmatvec::VecInt &	getLinkStatusReg () const

const fmatvec::Mat &	evalT ()

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

const fmatvec::SymMat &	evalM ()

const fmatvec::SymMat &	evalLLM ()

const fmatvec::Mat &	evalW (int i=0)

const fmatvec::Mat &	evalV (int i=0)

const fmatvec::Vec &	evalwb ()

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

const fmatvec::Mat &	evalJrla (int i=0)

const fmatvec::Vec &	evalrdt ()

const fmatvec::Vec &	evalg ()

const fmatvec::Vec &	evalgd ()

const fmatvec::Mat &	evalWInverseKinetics ()

const fmatvec::Mat &	evalbInverseKinetics ()

void	setqd (const fmatvec::Vec &qd_)

void	setud (const fmatvec::Vec &ud_)

void	setxd (const fmatvec::Vec &xd_)

int	getxInd ()

int	getlaInd () const

int	gethInd (int i=0)

void	setlaInd (int ind)

void	setisInd (int ind)

void	setgInd (int ind)

void	setgdInd (int ind)

void	setrFactorInd (int ind)

virtual void	setsvInd (int svInd_)

void	setLinkStatusInd (int LinkStatusInd_)

void	setLinkStatusRegInd (int LinkStatusRegInd_)

void	setqSize (int qSize_)

void	setuSize (int uSize_, int i=0)

void	setxSize (int xSize_)

int	getisSize () const

int	getlaSize () const

int	getgSize () const

int	getgdSize () const

int	getrFactorSize () const

int	getsvSize () const

int	getLinkStatusSize () const

int	getLinkStatusRegSize () const

const std::vector< Object * > &	getObjects () const

const std::vector< Link * > &	getLinks () const

const std::vector< DynamicSystem * > &	getDynamicSystems () const

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

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

const std::vector< Link * > &	getSetValuedLinks () const

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

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

void	updatedqRef (fmatvec::Vec &dqParent)

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

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

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

void	updateduRef (fmatvec::Vec &duParent)

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

void	updatehRef (fmatvec::Vec &hParent, int j=0)
	references to smooth right hand side of dynamic system parent More...

void	updaterRef (fmatvec::Vec &rParent, int j=0)
	references to nonsmooth right hand side of dynamic system parent More...

void	updateJrlaRef (fmatvec::Mat &rParent, int j=0)

void	updaterdtRef (fmatvec::Vec &rdtParent)
	references to nonsmooth right hand side of dynamic system parent More...

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

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

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

virtual void	updateInternalStateRef (fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent)
	references to internal state of dynamic system parent

virtual void	updategRef (fmatvec::Vec &gParent)
	references to relative distances of dynamic system parent More...

virtual void	updategdRef (fmatvec::Vec &gdParent)
	references to relative velocities of dynamic system parent More...

void	updatelaRef (fmatvec::Vec &laParent)
	references to contact forces of dynamic system parent More...

void	updateLaRef (fmatvec::Vec &LaParent)
	references to contact impulses of dynamic system parent More...

void	updatelaInverseKineticsRef (fmatvec::Vec &laParent)

void	updatebInverseKineticsRef (fmatvec::Mat &bParent)

virtual void	updatewbRef (fmatvec::Vec &wbParent)
	references to TODO of dynamic system parent More...

virtual void	updateWRef (fmatvec::Mat &WParent, int j=0)
	references to contact force direction matrix of dynamic system parent More...

void	updateWInverseKineticsRef (fmatvec::Mat &WParent)
	references to contact force direction matrix of dynamic system parent More...

virtual void	updateVRef (fmatvec::Mat &VParent, int j=0)
	references to condensed contact force direction matrix of dynamic system parent More...

void	updatesvRef (fmatvec::Vec &svParent)
	references to stopvector (rootfunction for event driven integrator) of dynamic system parent More...

void	updatejsvRef (fmatvec::VecInt &jsvParent)
	references to boolean evaluation of stopvector concerning roots of dynamic system parent More...

void	updateLinkStatusRef (fmatvec::VecInt &LinkStatusParent)
	references to status vector of set valued links with piecewise link equations (which piece is valid) More...

void	updateLinkStatusRegRef (fmatvec::VecInt &LinkStatusRegParent)
	references to status vector of single valued links More...

void	updateresRef (fmatvec::Vec &resParent)
	references to residuum of contact equations of dynamic system parent More...

void	updaterFactorRef (fmatvec::Vec &rFactorParent)
	references to relaxation factors for contact equations of dynamic system parent More...

void	clearElementLists ()

void	buildListOfDynamicSystems (std::vector< DynamicSystem * > &sys)
	build flat list of dynamic systems More...

void	buildListOfObjects (std::vector< Object * > &obj)
	build flat list of objects More...

void	buildListOfLinks (std::vector< Link * > &lnk)
	build flat list of links More...

void	buildListOfConstraints (std::vector< Constraint * > &crt)
	build flat list of all constraints More...

void	buildListOfFrames (std::vector< Frame * > &frm)
	build flat list of frames More...

void	buildListOfContours (std::vector< Contour * > &cnt)
	build flat list of contours More...

void	buildListOfModels (std::vector< ModellingInterface * > &modelList)
	build flat list of models More...

void	buildListOfInverseKineticsLinks (std::vector< Link * > &iklnk)
	build flat list of inverse kinetics links More...

void	buildListOfObservers (std::vector< Observer * > &obsrv)
	build flat list of observers More...

void	setUpInverseKinetics ()
	analyse constraints of dynamic systems for usage in inverse kinetics

void	setUpLinks ()
	distribute links to set- and single valued container

bool	gActiveChanged ()

bool	gActiveChangedReg ()

bool	detectImpact ()

void	calcsvSize ()
	calculates size of stop vector

void	calclaSize (int j)
	calculates size of contact force parameters

void	calcLinkStatusSize ()
	calculates size of set-valued link status vector

void	calcLinkStatusRegSize ()
	calculates size of single-valued link status vector

void	calclaInverseKineticsSize ()
	calculates size of contact force parameters

void	calcbInverseKineticsSize ()
	calculates size of contact force parameters

void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

void	calcgSize (int j)
	calculates size of relative distances

void	calcgdSize (int j)
	calculates size of gap velocities More...

void	calcrFactorSize (int j)
	calculates size of relaxation factors for contact equations

void	setUpObjectsWithNonConstantMassMatrix ()
	rearrange vector of active setvalued links

void	setUpActiveLinks ()
	rearrange vector of active setvalued links

void	checkActive (int j)
	check if set-valued contacts are active and set corresponding attributes More...

virtual void	setGeneralizedRelativePositionTolerance (double tol)

virtual void	setGeneralizedRelativeVelocityTolerance (double tol)

virtual void	setGeneralizedRelativeAccelerationTolerance (double tol)

virtual void	setGeneralizedForceTolerance (double tol)

virtual void	setGeneralizedImpulseTolerance (double tol)

virtual void	setGeneralizedRelativePositionCorrectionValue (double corr)

virtual void	setGeneralizedRelativeVelocityCorrectionValue (double corr)

void	setrMax (double rMax)

int	frameIndex (const Frame *frame_) const

void	addFrame (FixedRelativeFrame *frame)

void	addContour (RigidContour *contour)

void	addGroup (DynamicSystem *sys)

DynamicSystem *	getGroup (const std::string &name, bool check=true) const

void	addObject (Object *obj)

Object *	getObject (const std::string &name, bool check=true) const

void	addLink (Link *lnk)

void	addConstraint (Constraint *crt)

void	addInverseKineticsLink (Link *lnk)

Observer *	getObserver (const std::string &name, bool check=true) const

void	addObserver (Observer *ele)

Link *	getLink (const std::string &name, bool check=true) const

Constraint *	getConstraint (const std::string &name, bool check=true) const

void	addModel (ModellingInterface *model_)

ModellingInterface *	getModel (const std::string &name, bool check=true) const

Frame *	getFrameI ()

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

virtual void	updatecorr (int j)

void	updatecorrRef (fmatvec::Vec &ref)

void	calccorrSize (int j)

void	checkRoot ()

void	resetUpToDate () override

void	updateStateTable ()

H5::GroupBase *	getFramesPlotGroup () override

H5::GroupBase *	getContoursPlotGroup () override

H5::GroupBase *	getGroupsPlotGroup () override

H5::GroupBase *	getObjectsPlotGroup () override

H5::GroupBase *	getLinksPlotGroup () override

H5::GroupBase *	getConstraintsPlotGroup () override

H5::GroupBase *	getObserversPlotGroup () override

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
Frame *	R
	parent frame

std::vector< Object * >	object
	container for possible ingredients

std::vector< Object * >	objectWithNonConstantMassMatrix

std::vector< Link * >	link

std::vector< Link * >	linkSingleValued

std::vector< Link * >	linkSetValued

std::vector< Link * >	linkSetValuedActive

std::vector< Link * >	linkWithStopVector

std::vector< ModellingInterface * >	model

std::vector< DynamicSystem * >	dynamicsystem

std::vector< Link * >	inverseKineticsLink

std::vector< Observer * >	observer

std::vector< Constraint * >	constraint

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

fmatvec::SymMat	M
	mass matrix

fmatvec::SymMat	LLM
	Cholesky decomposition of mass matrix.

fmatvec::Vec	q
	positions, differentiated positions, initial positions

fmatvec::Vec	qd

fmatvec::Vec	dq

fmatvec::Vec	u
	velocities, differentiated velocities, initial velocities

fmatvec::Vec	ud

fmatvec::Vec	du

fmatvec::Vec	x
	order one parameters, differentiated order one parameters, initial order one parameters

fmatvec::Vec	xd

fmatvec::Vec	dx

fmatvec::Vec	h [2]
	smooth, smooth with respect to objects, smooth with respect to links and nonsmooth

fmatvec::Vec	r [2]

fmatvec::Vec	rdt

fmatvec::Mat	Jrla [2]
	Jacobian dr/dla.

fmatvec::Mat	W [2]

fmatvec::Mat	V [2]

fmatvec::Vec	la
	contact force parameters

fmatvec::Vec	La

fmatvec::Vec	curis

fmatvec::Vec	nextis

fmatvec::Vec	g
	relative distances and velocities

fmatvec::Vec	gd

fmatvec::Vec	wb
	TODO.

fmatvec::Vec	res
	residuum of nonlinear contact equations for Newton scheme

fmatvec::Vec	rFactor
	rfactors for relaxation nonlinear contact equations

fmatvec::Vec	sv
	stop vector (root functions for event driven integration

fmatvec::VecInt	jsv
	boolean evaluation of stop vector concerning roots

fmatvec::VecInt	LinkStatus
	status of set-valued links

fmatvec::VecInt	LinkStatusReg
	status of single-valued links

int	qSize
	size and local start index of positions relative to parent

int	qInd

int	uSize [2]
	size and local start index of velocities relative to parent

int	uInd [2]

int	xSize
	size and local start index of order one parameters relative to parent

int	xInd

int	hSize [2]
	size and local start index of order smooth right hand side relative to parent

int	hInd [2]

int	isSize

int	isInd

int	gSize
	size and local start index of relative distances relative to parent

int	gInd

int	gdSize
	size and local start index of relative velocities relative to parent

int	gdInd

int	laSize
	size and local start index of contact force parameters relative to parent

int	laInd

int	rFactorSize
	size and local start index of rfactors relative to parent

int	rFactorInd

int	svSize
	size and local start index of stop vector relative to parent

int	svInd

int	LinkStatusSize
	size and local start index of set-valued link status vector relative to parent

int	LinkStatusInd

int	LinkStatusRegSize
	size and local start index of single-valued link status vector relative to parent

int	LinkStatusRegInd

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

std::vector< Contour * >	contour

std::shared_ptr< OpenMBV::Group >	openMBVGrp

std::shared_ptr< OpenMBV::Group >	framesOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	contoursOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	groupsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	objectsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	linksOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	constraintsOpenMBVGrp

std::shared_ptr< OpenMBV::Group >	observersOpenMBVGrp

std::shared_ptr< H5::File >	hdf5File

Frame *	I

int	laInverseKineticsSize
	size of contact force parameters of special links relative to parent

int	bInverseKineticsSize

fmatvec::Mat	WInverseKinetics

fmatvec::Mat	bInverseKinetics

fmatvec::Vec	laInverseKinetics

int	corrSize

int	corrInd

fmatvec::Vec	corr

std::string	saved_frameOfReference

H5::GroupBase *	framesPlotGroup

H5::GroupBase *	contoursPlotGroup

H5::GroupBase *	groupsPlotGroup

H5::GroupBase *	objectsPlotGroup

H5::GroupBase *	linksPlotGroup

H5::GroupBase *	constraintsPlotGroup

H5::GroupBase *	observersPlotGroup

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 Member Functions
void	addFrame (Frame *frame_)

void	addContour (Contour *contour_)

Friends
class	DynamicSystemSolver

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

dynamic system as topmost hierarchical level

Author: Martin Foerg

Date: 2009-03-26 some comments (Thorsten Schindler); 2009-04-06 ExtraDynamicInterface included (Thorsten Schindler); 2009-06-14 OpenMP (Thorsten Schindler); 2009-07-08 relative dynamic system location (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-07-27 implicit integration improvement (Thorsten Schindler); 2009-07-28 splitted interfaces (Thorsten Schindler); 2009-12-14 revised inverse kinetics (Martin Foerg); 2010-07-06 modifications for timestepper ssc, e.g LinkStatus and buildListOfSetValuedLinks (Robert Huber); 2012-05-08 OpenMP completely removed; will be inserted again soon (Jan Clauberg); 2012-05-08 modifications for AutoTimeSteppingSSCIntegrator (Jan Clauberg); 2013-06-23 removed extra dynamics (Martin Foerg); 2014-09-16 contact forces are calculated on acceleration level (Thorsten Schindler)

Member Function Documentation

◆ aboutToUpdateInternalState()

void MBSim::DynamicSystem::aboutToUpdateInternalState ( )

virtual

This function is called just before the internal state vector gets updated. This means that the internal state is still at its old value when this function is called but get updated immediately afterwards. You can use this function to do actions which should only be done at valid integrator states (but not at integrates states which may be rejected later on).

◆ addConstraint()

void MBSim::DynamicSystem::addConstraint ( Constraint * crt )

Parameters

constraint to add

◆ addGroup()

void MBSim::DynamicSystem::addGroup ( DynamicSystem * sys )

Parameters

dynamic system to add

◆ addInverseKineticsLink()

void MBSim::DynamicSystem::addInverseKineticsLink ( Link * lnk )

Parameters

add	link for inverse kinetics

◆ addLink()

void MBSim::DynamicSystem::addLink ( Link * lnk )

Parameters

link to add

◆ addModel()

void MBSim::DynamicSystem::addModel ( ModellingInterface * model_ )

Parameters

modell to add

◆ addObject()

void MBSim::DynamicSystem::addObject ( Object * obj )

Parameters

object to add

◆ buildListOfConstraints()

void MBSim::DynamicSystem::buildListOfConstraints ( std::vector< Constraint * > & crt )

build flat list of all constraints

Parameters

list	of constraints

◆ buildListOfContours()

void MBSim::DynamicSystem::buildListOfContours ( std::vector< Contour * > & cnt )

build flat list of contours

Parameters

list	of contours

◆ buildListOfDynamicSystems()

void MBSim::DynamicSystem::buildListOfDynamicSystems ( std::vector< DynamicSystem * > & sys )

build flat list of dynamic systems

Parameters

list	of dynamic systems

◆ buildListOfFrames()

void MBSim::DynamicSystem::buildListOfFrames ( std::vector< Frame * > & frm )

build flat list of frames

Parameters

list of frames

◆ buildListOfInverseKineticsLinks()

void MBSim::DynamicSystem::buildListOfInverseKineticsLinks ( std::vector< Link * > & iklnk )

build flat list of inverse kinetics links

Parameters

list	of inverse kinetics links

◆ buildListOfLinks()

void MBSim::DynamicSystem::buildListOfLinks ( std::vector< Link * > & lnk )

build flat list of links

Parameters

list of links

◆ buildListOfModels()

void MBSim::DynamicSystem::buildListOfModels ( std::vector< ModellingInterface * > & modelList )

build flat list of models

Parameters

list of models

◆ buildListOfObjects()

void MBSim::DynamicSystem::buildListOfObjects ( std::vector< Object * > & obj )

build flat list of objects

Parameters

list	of objects

◆ buildListOfObservers()

void MBSim::DynamicSystem::buildListOfObservers ( std::vector< Observer * > & obsrv )

build flat list of observers

Parameters

list	of observers

◆ calcgdSize()

void MBSim::DynamicSystem::calcgdSize ( int j )

calculates size of gap velocities

Parameters

flag	to decide which contacts are included in the calculation 0 = all contacts 1 = closed contacts 2 = contacts which stay closed 3 = sticking contacts

see SingleContact for the implementation

◆ checkActive()

void MBSim::DynamicSystem::checkActive ( int j )

check if set-valued contacts are active and set corresponding attributes

Parameters

flag to decide which criteria are used to define 'activity' 1 = position level activity (gActive = normal gap not larger than tolerance) 2 = velocity level activity (if gActive, gdActive[normal] = normal gap velocity not larger than tolerance ; if gdActive[normal], gdActive[tangential] = tangential gap velocity not larger than tolerance, i.e., sticking) 3 = velocity level activity (if gActive, gdActive[normal] = new normal gap velocity AFTER impact not larger than tolerance ; if gdActive[normal], gdActive[tangential] = new tangential gap velocity AFTER impact not larger than tolerance, i.e., sticking) 4 = acceleration level activity (if gActive and gdActive[normal], gddActive[normal] = normal gap acceleration not larger than tolerance ; if gddActive[normal] and gdActive[tangential], gddActive[tangential] = tangential gap acceleration not larger than tolerance, i.e., stay sticking) 5 = activity clean-up: if there is no activity on acceleration or velocity level, also more basic levels are set to non-active 6 = closing sets all activities 7 = slip-stick transition sets tangential velocity and acceleration activity 8 = opening and stick-slip transition set corresponding acceleration activity to non-active

see SingleContact for the implementation

◆ checkConstraintsForTermination()

void MBSim::DynamicSystem::checkConstraintsForTermination ( )

virtual

validate force laws concerning given tolerances

Reimplemented in MBSim::DynamicSystemSolver.

◆ checkImpactsForTermination()

void MBSim::DynamicSystem::checkImpactsForTermination ( )

virtual

validate force laws concerning given tolerances on velocity level

Reimplemented in MBSim::DynamicSystemSolver.

◆ detectImpact()

bool MBSim::DynamicSystem::detectImpact ( )

Returns: flag, if an impact occured in the system

◆ frameIndex()

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

Parameters

frame

Returns: index of frame TODO renaming

◆ gActiveChanged()

bool MBSim::DynamicSystem::gActiveChanged ( )

Returns: flag, if vector of active relative distances has changed (set-valued laws)

◆ gActiveChangedReg()

bool MBSim::DynamicSystem::gActiveChangedReg ( )

Returns: flag, if vector of active relative distances has changed (single-valued laws)

◆ getChildByContainerAndName()

Element * MBSim::DynamicSystem::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.

◆ getConstraint()

Constraint * MBSim::DynamicSystem::getConstraint	(	const std::string &	name,
		bool	check = `true`
	)		const

Parameters

name	of the constraint
check	for existence of constraint

Returns: constraint

◆ getConstraintsOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::DynamicSystem::getConstraintsOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getConstraintsPlotGroup()

H5::GroupBase * MBSim::DynamicSystem::getConstraintsPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getContour()

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

virtual

Parameters

name	of the contour
check	for existence of contour

Returns: contour

◆ getContoursOpenMBVGrp()

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

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getContoursPlotGroup()

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

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getFrame()

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

virtual

Parameters

name	of the frame
check	for existence of frame

Returns: frame

◆ getFrameI()

Frame * MBSim::DynamicSystem::getFrameI ( )

inline

Return frame "I"

◆ getFramesOpenMBVGrp()

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

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getFramesPlotGroup()

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

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getGroup()

DynamicSystem * MBSim::DynamicSystem::getGroup	(	const std::string &	name,
		bool	check = `true`
	)		const

Parameters

name	of the dynamic system
check	for existence of dynamic system

Returns: dynamic system

◆ getGroupsOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::DynamicSystem::getGroupsOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getGroupsPlotGroup()

H5::GroupBase * MBSim::DynamicSystem::getGroupsPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getLink()

Link * MBSim::DynamicSystem::getLink	(	const std::string &	name,
		bool	check = `true`
	)		const

Parameters

name	of the link
check	for existence of link

Returns: link

◆ getLinksOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::DynamicSystem::getLinksOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getLinksPlotGroup()

H5::GroupBase * MBSim::DynamicSystem::getLinksPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getModel()

ModellingInterface * MBSim::DynamicSystem::getModel	(	const std::string &	name,
		bool	check = `true`
	)		const

Parameters

name	of the model
check	for existence of model

Returns: modelling interface

◆ getObject()

Object * MBSim::DynamicSystem::getObject	(	const std::string &	name,
		bool	check = `true`
	)		const

Parameters

name	of the object
check	for existence of object

Returns: object

◆ getObjectsOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::DynamicSystem::getObjectsOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getObjectsPlotGroup()

H5::GroupBase * MBSim::DynamicSystem::getObjectsPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getObserversOpenMBVGrp()

std::shared_ptr< OpenMBV::Group > MBSim::DynamicSystem::getObserversOpenMBVGrp ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getObserversPlotGroup()

H5::GroupBase * MBSim::DynamicSystem::getObserversPlotGroup ( )

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ getOpenMBVGrp()

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

inlineoverridevirtual

Reimplemented from MBSim::Element.

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

Reimplemented in MBSim::DynamicSystemSolver.

◆ plot()

void MBSim::DynamicSystem::plot ( )

overridevirtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

Reimplemented in MBSim::DynamicSystemSolver.

◆ plotAtSpecialEvent()

void MBSim::DynamicSystem::plotAtSpecialEvent ( )

overridevirtual

plots time dependent data at special events

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

◆ resetUpToDate()

void MBSim::DynamicSystem::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::Element.

◆ setDynamicSystemSolver()

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

overridevirtual

DEPRECATED

Reimplemented from MBSim::Element.

◆ setGeneralizedForceTolerance()

void MBSim::DynamicSystem::setGeneralizedForceTolerance ( double tol )

virtual

Parameters

tolerance for contact force

◆ setGeneralizedImpulseTolerance()

void MBSim::DynamicSystem::setGeneralizedImpulseTolerance ( double tol )

virtual

Parameters

tolerance for impact

◆ setGeneralizedRelativeAccelerationTolerance()

void MBSim::DynamicSystem::setGeneralizedRelativeAccelerationTolerance ( double tol )

virtual

Parameters

tolerance for relative acceleration

◆ setGeneralizedRelativePositionCorrectionValue()

void MBSim::DynamicSystem::setGeneralizedRelativePositionCorrectionValue ( double corr )

virtual

Parameters

correction value for relative position

◆ setGeneralizedRelativePositionTolerance()

void MBSim::DynamicSystem::setGeneralizedRelativePositionTolerance ( double tol )

virtual

Parameters

tolerance for relative position

◆ setGeneralizedRelativeVelocityCorrectionValue()

void MBSim::DynamicSystem::setGeneralizedRelativeVelocityCorrectionValue ( double corr )

virtual

Parameters

correction value for relative velocity

◆ setGeneralizedRelativeVelocityTolerance()

void MBSim::DynamicSystem::setGeneralizedRelativeVelocityTolerance ( double tol )

virtual

Parameters

tolerance for relative velocity

◆ setrMax()

void MBSim::DynamicSystem::setrMax ( double rMax )

Parameters

maximum relaxation factor for contact equations

◆ solveConstraintsFixpointSingle()

int MBSim::DynamicSystem::solveConstraintsFixpointSingle ( )

virtual

solve contact equations with single step fixed point scheme

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ solveConstraintsGaussSeidel()

int MBSim::DynamicSystem::solveConstraintsGaussSeidel ( )

virtual

solve contact equations with Gauss-Seidel scheme

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ solveConstraintsRootFinding()

int MBSim::DynamicSystem::solveConstraintsRootFinding ( )

virtual

solve contact equations with Newton scheme

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ solveImpactsFixpointSingle()

int MBSim::DynamicSystem::solveImpactsFixpointSingle ( )

virtual

solve impact equations with single step fixed point scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ solveImpactsGaussSeidel()

int MBSim::DynamicSystem::solveImpactsGaussSeidel ( )

virtual

solve impact equations with Gauss-Seidel scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ solveImpactsRootFinding()

int MBSim::DynamicSystem::solveImpactsRootFinding ( )

virtual

solve impact equations with Newton scheme on velocity level

Parameters

time step-size

Returns: iterations of solver

Reimplemented in MBSim::DynamicSystemSolver.

◆ updategdRef()

void MBSim::DynamicSystem::updategdRef ( fmatvec::Vec & gdParent )

virtual

references to relative velocities of dynamic system parent

Parameters

vector to be referenced

Reimplemented in MBSim::DynamicSystemSolver.

◆ updategRef()

void MBSim::DynamicSystem::updategRef ( fmatvec::Vec & gParent )

virtual

references to relative distances of dynamic system parent

Parameters

vector to be referenced

Reimplemented in MBSim::DynamicSystemSolver.

◆ updatehRef()

void MBSim::DynamicSystem::updatehRef	(	fmatvec::Vec &	hParent,
		int	j = `0`
	)

references to smooth right hand side of dynamic system parent

Parameters

complete	vector to be referenced
vector	concerning objects to be referenced
vector	concerning links to be referenced
index	of normal usage and inverse kinetics

◆ updatejsvRef()

void MBSim::DynamicSystem::updatejsvRef ( fmatvec::VecInt & jsvParent )

references to boolean evaluation of stopvector concerning roots of dynamic system parent

Parameters

vector to be referenced

◆ updatelaRef()

void MBSim::DynamicSystem::updatelaRef ( fmatvec::Vec & laParent )

references to contact forces of dynamic system parent

Parameters

vector to be referenced

◆ updateLaRef()

void MBSim::DynamicSystem::updateLaRef ( fmatvec::Vec & LaParent )

references to contact impulses of dynamic system parent

Parameters

vector to be referenced

◆ updateLinkStatusRef()

void MBSim::DynamicSystem::updateLinkStatusRef ( fmatvec::VecInt & LinkStatusParent )

references to status vector of set valued links with piecewise link equations (which piece is valid)

Parameters

vector to be referenced

◆ updateLinkStatusRegRef()

void MBSim::DynamicSystem::updateLinkStatusRegRef ( fmatvec::VecInt & LinkStatusRegParent )

references to status vector of single valued links

Parameters

vector to be referenced

◆ updateLLMRef()

void MBSim::DynamicSystem::updateLLMRef ( fmatvec::SymMat & LLMParent )

references to Cholesky decomposition of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

◆ updateMRef()

void MBSim::DynamicSystem::updateMRef ( fmatvec::SymMat & MParent )

references to mass matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

◆ updateqdRef()

void MBSim::DynamicSystem::updateqdRef ( fmatvec::Vec & qdParent )

references to differentiated positions of dynamic system parent

Parameters

vector to be referenced

◆ updateqRef()

void MBSim::DynamicSystem::updateqRef ( fmatvec::Vec & qParent )

references to positions of dynamic system parent

Parameters

vector to be referenced

◆ updater()

void MBSim::DynamicSystem::updater ( int j = 0 )

virtual

Reimplemented in MBSim::DynamicSystemSolver.

◆ updaterdtRef()

void MBSim::DynamicSystem::updaterdtRef ( fmatvec::Vec & rdtParent )

references to nonsmooth right hand side of dynamic system parent

Parameters

vector to be referenced

◆ updateresRef()

void MBSim::DynamicSystem::updateresRef ( fmatvec::Vec & resParent )

references to residuum of contact equations of dynamic system parent

Parameters

vector to be referenced

◆ updaterFactorRef()

void MBSim::DynamicSystem::updaterFactorRef ( fmatvec::Vec & rFactorParent )

references to relaxation factors for contact equations of dynamic system parent

Parameters

vector to be referenced

◆ updaterRef()

void MBSim::DynamicSystem::updaterRef	(	fmatvec::Vec &	rParent,
		int	j = `0`
	)

references to nonsmooth right hand side of dynamic system parent

Parameters

vector to be referenced

◆ updatesvRef()

void MBSim::DynamicSystem::updatesvRef ( fmatvec::Vec & svParent )

references to stopvector (rootfunction for event driven integrator) of dynamic system parent

Parameters

vector to be referenced

◆ updateTRef()

void MBSim::DynamicSystem::updateTRef ( fmatvec::Mat & TParent )

references to linear transformation matrix between differentiated positions and velocities of dynamic system parent

Parameters

matrix to be referenced

◆ updateuallRef()

void MBSim::DynamicSystem::updateuallRef ( fmatvec::Vec & uParent )

references to velocities of dynamic system parent

Parameters

vector to be referenced

◆ updateudallRef()

void MBSim::DynamicSystem::updateudallRef ( fmatvec::Vec & udParent )

references to velocities of dynamic system parent

Parameters

vector to be referenced

◆ updateudRef()

void MBSim::DynamicSystem::updateudRef ( fmatvec::Vec & udParent )

references to differentiated velocities of dynamic system parent

Parameters

vector to be referenced

◆ updateuRef()

void MBSim::DynamicSystem::updateuRef ( fmatvec::Vec & uParent )

references to velocities of dynamic system parent

Parameters

vector to be referenced

◆ updateVRef()

void MBSim::DynamicSystem::updateVRef	(	fmatvec::Mat &	VParent,
		int	j = `0`
	)

virtual

references to condensed contact force direction matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

Reimplemented in MBSim::DynamicSystemSolver.

◆ updatewbRef()

void MBSim::DynamicSystem::updatewbRef ( fmatvec::Vec & wbParent )

virtual

references to TODO of dynamic system parent

Parameters

vector to be referenced

Reimplemented in MBSim::DynamicSystemSolver.

◆ updateWInverseKineticsRef()

void MBSim::DynamicSystem::updateWInverseKineticsRef ( fmatvec::Mat & WParent )

references to contact force direction matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

◆ updateWRef()

void MBSim::DynamicSystem::updateWRef	(	fmatvec::Mat &	WParent,
		int	j = `0`
	)

virtual

references to contact force direction matrix of dynamic system parent

Parameters

matrix	to be referenced
index	of normal usage and inverse kinetics

Reimplemented in MBSim::DynamicSystemSolver.

Member Data Documentation

◆ I

Frame* MBSim::DynamicSystem::I

protected

A pointer to frame "I"

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

/mbsim-env/mbsim/kernel/mbsim/dynamic_system.h
/mbsim-env/mbsim/kernel/mbsim/dynamic_system.cc

Public Member Functions

Protected Attributes

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ aboutToUpdateInternalState()

◆ addConstraint()

◆ addGroup()

◆ addInverseKineticsLink()

◆ addLink()

◆ addModel()

◆ addObject()

◆ buildListOfConstraints()

◆ buildListOfContours()

◆ buildListOfDynamicSystems()

◆ buildListOfFrames()

◆ buildListOfInverseKineticsLinks()

◆ buildListOfLinks()

◆ buildListOfModels()

◆ buildListOfObjects()

◆ buildListOfObservers()

◆ calcgdSize()

◆ checkActive()

◆ checkConstraintsForTermination()

◆ checkImpactsForTermination()

◆ detectImpact()

◆ frameIndex()

◆ gActiveChanged()

◆ gActiveChangedReg()

◆ getChildByContainerAndName()

◆ getConstraint()

◆ getConstraintsOpenMBVGrp()

◆ getConstraintsPlotGroup()

◆ getContour()

◆ getContoursOpenMBVGrp()

◆ getContoursPlotGroup()

◆ getFrame()

◆ getFrameI()

◆ getFramesOpenMBVGrp()

◆ getFramesPlotGroup()

◆ getGroup()

◆ getGroupsOpenMBVGrp()

◆ getGroupsPlotGroup()

◆ getLink()

◆ getLinksOpenMBVGrp()

◆ getLinksPlotGroup()

◆ getModel()

◆ getObject()

◆ getObjectsOpenMBVGrp()

◆ getObjectsPlotGroup()

◆ getObserversOpenMBVGrp()

◆ getObserversPlotGroup()

◆ getOpenMBVGrp()

◆ init()

◆ plot()

◆ plotAtSpecialEvent()

◆ resetUpToDate()

◆ setDynamicSystemSolver()

◆ setGeneralizedForceTolerance()

◆ setGeneralizedImpulseTolerance()

◆ setGeneralizedRelativeAccelerationTolerance()

◆ setGeneralizedRelativePositionCorrectionValue()

◆ setGeneralizedRelativePositionTolerance()

◆ setGeneralizedRelativeVelocityCorrectionValue()

◆ setGeneralizedRelativeVelocityTolerance()

◆ setrMax()

◆ solveConstraintsFixpointSingle()

◆ solveConstraintsGaussSeidel()

◆ solveConstraintsRootFinding()

◆ solveImpactsFixpointSingle()

◆ solveImpactsGaussSeidel()

◆ solveImpactsRootFinding()

◆ updategdRef()

◆ updategRef()

◆ updatehRef()

◆ updatejsvRef()

◆ updatelaRef()

◆ updateLaRef()