basic class of MBSim mainly for plotting More...

#include <element.h>

Inheritance diagram for MBSim::Element:

Public Types
enum	InitStage { resolveStringRef =0 , preInit , plotting , unknownStage , LASTINITSTAGE }
	The stages of the initialization. More...

enum class	PlotAttributeStorage { attribute , dataset }

Public Member Functions
	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, PlotAttributeStorage storage=PlotAttributeStorage::attribute)
	Set a plot attribute: static data attached as key/value pairs to the plot datasets/groups.

void	setPlotAttribute (const std::string &name, PlotAttributeStorage storage=PlotAttributeStorage::attribute)

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

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)

Protected Member Functions
void	updatePlotFeatures ()

Protected Attributes
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::pair< PlotAttributeStorage, std::variant< std::monostate, int, double, std::string, std::vector< int >, std::vector< double >, std::vector< std::vector< double > > > > >	plotAttribute

Private Member Functions
Element *	getByPathElement (const std::string &path, bool initialCaller=true) const

Detailed Description

basic class of MBSim mainly for plotting

Author: Martin Foerg

Date: 2009-03-24 plot feature energy (Thorsten Schindler); 2009-07-28 splitted interfaces (Thorsten Schindler)

Member Enumeration Documentation

◆ InitStage

enum MBSim::Element::InitStage

The stages of the initialization.

Member Function Documentation

◆ computeLevel()

int MBSim::Element::computeLevel ( )

computes the length of the pathes in the graph that represents the dependencies between all elements.

Returns: the length of the longest path in the graph.

◆ createPlotGroup()

void MBSim::Element::createPlotGroup ( )

virtual

creates the plotGroup for H5-output

Reimplemented in MBSim::Constraint, MBSim::Contour, MBSim::Frame, MBSim::Link, MBSim::Body, MBSim::Object, and MBSim::Observer.

◆ getChildByContainerAndName()

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

inlinevirtual

Get the Element named name in the container named container.

Reimplemented in MBSim::DynamicSystem, and MBSim::Body.

◆ getDependencies()

std::vector< Element * > MBSim::Element::getDependencies ( ) const

inline

checks dependency on other elements.

Returns: a vector of elements the calling element depends on.

◆ getDynamicSystemSolver()

DynamicSystemSolver * MBSim::Element::getDynamicSystemSolver ( )

inline

Returns: dynamic system solver

◆ getName()

const std::string & MBSim::Element::getName ( ) const

inline

Returns: element name

◆ getPlotFeature()

bool MBSim::Element::getPlotFeature ( const PlotFeatureEnum & pf )

inline

Get the state of the plot feature pf. Returns false if the plot feature pf is not set till now.

◆ getPlotGroup()

H5::GroupBase * MBSim::Element::getPlotGroup ( )

inline

Returns: associated plot group

◆ init()

void MBSim::Element::init	(	InitStage	stage,
		const InitConfigSet &	config = `InitConfigSet()`
	)

virtual

plots time series header

Parameters

invocing parent class

◆ initializeUsingXML()

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

virtual

Reimplemented in MBSim::PiecewisePolynomFunction< Ret(Arg)>.

◆ plot()

void MBSim::Element::plot ( )

virtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented in MBSim::TyreModel, MBSim::SpringDamper, MBSim::FrameObserver, MBSim::RigidBodyObserver, MBSim::CompoundContour, MBSim::RigidContour, MBSim::DynamicSystem, MBSim::DynamicSystemSolver, MBSim::Frame, MBSim::Contact, MBSim::DirectionalSpringDamper, MBSim::GeneralizedClutch, MBSim::GeneralizedFriction, MBSim::InitialCondition, MBSim::KineticExcitation, MBSim::Link, MBSim::MaxwellContact, MBSim::MechanicalLink, MBSim::TyreContact, MBSim::Body, MBSim::Object, MBSim::RigidBody, MBSim::ContactObserver, MBSim::InverseKinematicsConstraintObserver, MBSim::MaxwellContactObserver, MBSim::MechanicalConstraintObserver, MBSim::MechanicalLinkObserver, MBSim::SingleContactObserver, and MBSim::TyreContactObserver.

◆ plotAtSpecialEvent()

virtual void MBSim::Element::plotAtSpecialEvent ( )

inlinevirtual

plots time dependent data at special events

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented in MBSim::DynamicSystem.

◆ setDynamicSystemSolver()

virtual void MBSim::Element::setDynamicSystemSolver ( DynamicSystemSolver * sys )

inlinevirtual

sets the used dynamics system solver to the element

Parameters

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

Reimplemented in MBSim::DynamicSystem, MBSim::StateDependentFunction< Ret >, MBSim::TimeDependentFunction< Ret >, MBSim::Contact, MBSim::MaxwellContact, MBSim::Body, MBSim::RigidBody, MBSim::ContactObserver, and MBSim::MaxwellContactObserver.

◆ setName()

void MBSim::Element::setName ( const std::string & str )

inline

Parameters

element name

◆ setPlotFeature()

void MBSim::Element::setPlotFeature	(	const PlotFeatureEnum &	pf,
		bool	value
	)

virtual

Set a plot feature.

Set the plot feature pf of this object.

◆ setPlotFeatureForChildren()

void MBSim::Element::setPlotFeatureForChildren	(	const PlotFeatureEnum &	pf,
		bool	value
	)

Set a plot feature for the children of this object.

Set the plot feature pf of all children for set plot features.

◆ setPlotFeatureRecursive()

void MBSim::Element::setPlotFeatureRecursive	(	const PlotFeatureEnum &	pf,
		bool	value
	)

inline

Set a plot feature for this object and the children of this object.

This is a convenience function. It simply calls setPlotFeature and setPlotFeatureForChildren.

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

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

Enumerator
resolveStringRef	resolve references given by a string path to the corrosponding pointer
preInit	Make some early initialization. TODO This should be split into detailed stages.
plotting	Build/initialize the plot structure
unknownStage	Init all the rest. TODO This should be split into detailed stages.

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

◆ InitStage

Member Function Documentation

◆ computeLevel()

◆ createPlotGroup()

◆ getChildByContainerAndName()

◆ getDependencies()

◆ getDynamicSystemSolver()

◆ getName()

◆ getPlotFeature()

◆ getPlotGroup()

◆ init()

◆ initializeUsingXML()

◆ plot()

◆ plotAtSpecialEvent()

◆ setDynamicSystemSolver()

◆ setName()

◆ setPlotFeature()

◆ setPlotFeatureForChildren()

◆ setPlotFeatureRecursive()