cartesian frame on bodies used for application of e.g. links and loads More...

#include <frame.h>

Inheritance diagram for MBSim::Frame:

Public Member Functions
	Frame (const std::string &name="dummy")
	constructor More...

	~Frame () override=default
	destructor

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

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

int	gethSize (int i=0) const

int	gethInd (int i=0) const

void	sethSize (int size, int i=0)

void	sethInd (int ind, int i=0)

const fmatvec::Vec3 &	getPosition (bool check=true) const

fmatvec::Vec3 &	getPosition (bool check=true)

void	setPosition (const fmatvec::Vec3 &v)

const fmatvec::Vec3 &	evalPosition ()

const fmatvec::SqrMat3 &	getOrientation (bool check=true) const

fmatvec::SqrMat3 &	getOrientation (bool check=true)

void	setOrientation (const fmatvec::SqrMat3 &AWP_)

const fmatvec::SqrMat3 &	evalOrientation ()

const fmatvec::Vec3 &	getVelocity (bool check=true) const

fmatvec::Vec3 &	getVelocity (bool check=true)

void	setVelocity (const fmatvec::Vec3 &v)

const fmatvec::Vec3 &	evalVelocity ()

const fmatvec::Vec3 &	getAngularVelocity (bool check=true) const

fmatvec::Vec3 &	getAngularVelocity (bool check=true)

void	setAngularVelocity (const fmatvec::Vec3 &omega)

const fmatvec::Vec3 &	evalAngularVelocity ()

const fmatvec::Vec3 &	getAcceleration (bool check=true) const

fmatvec::Vec3 &	getAcceleration (bool check=true)

void	setAcceleration (const fmatvec::Vec3 &a)

const fmatvec::Vec3 &	evalAcceleration ()

const fmatvec::Vec3 &	getAngularAcceleration (bool check=true) const

fmatvec::Vec3 &	getAngularAcceleration (bool check=true)

void	setAngularAcceleration (const fmatvec::Vec3 &psi)

const fmatvec::Vec3 &	evalAngularAcceleration ()

const fmatvec::Mat3xV &	getJacobianOfTranslation (int j=0, bool check=true) const

fmatvec::Mat3xV &	getJacobianOfTranslation (int j=0, bool check=true)

void	setJacobianOfTranslation (const fmatvec::Mat3xV &WJP_, int j=0)

const fmatvec::Mat3xV &	evalJacobianOfTranslation (int j=0)

const fmatvec::Mat3xV &	getJacobianOfRotation (int j=0, bool check=true) const

fmatvec::Mat3xV &	getJacobianOfRotation (int j=0, bool check=true)

void	setJacobianOfRotation (const fmatvec::Mat3xV &WJR_, int j=0)

const fmatvec::Mat3xV &	evalJacobianOfRotation (int j=0)

const fmatvec::Vec3 &	getGyroscopicAccelerationOfTranslation (bool check=true) const

fmatvec::Vec3 &	getGyroscopicAccelerationOfTranslation (bool check=true)

void	setGyroscopicAccelerationOfTranslation (const fmatvec::Vec3 &WjP_)

const fmatvec::Vec3 &	evalGyroscopicAccelerationOfTranslation ()

const fmatvec::Vec3 &	getGyroscopicAccelerationOfRotation (bool check=true) const

fmatvec::Vec3 &	getGyroscopicAccelerationOfRotation (bool check=true)

void	setGyroscopicAccelerationOfRotation (const fmatvec::Vec3 &WjR_)

const fmatvec::Vec3 &	evalGyroscopicAccelerationOfRotation ()

void	initializeUsingXML (xercesc::DOMElement *element) override

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBV, tag,(optional(size,(double), 1)(offset,(double), 1)(path,(bool), false)(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))

void	setOpenMBVFrame (const std::shared_ptr< OpenMBV::Frame > &frame)

std::shared_ptr< OpenMBV::Frame > &	getOpenMBVFrame ()

void	resetUpToDate () override

virtual void	resetPositionsUpToDate ()

virtual void	resetVelocitiesUpToDate ()

virtual void	resetJacobiansUpToDate ()

virtual void	resetGyroscopicAccelerationsUpToDate ()

virtual void	updatePositions ()

virtual void	updateVelocities ()

virtual void	updateAccelerations ()

virtual void	updateJacobians (int j=0)

virtual void	updateGyroscopicAccelerations ()

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

int	hInd [2]

fmatvec::Vec3	WrOP
	position of coordinate system in inertial frame of reference

fmatvec::SqrMat3	AWP
	transformation matrix in inertial frame of reference

fmatvec::Vec3	WvP
	velocity and angular velocity of coordinate system in inertial frame of reference

fmatvec::Vec3	WomegaP

fmatvec::Mat3xV	WJP [3]
	Jacobians of translation and rotation from coordinate system to inertial frame.

fmatvec::Mat3xV	WJR [3]

fmatvec::Vec3	WjP

fmatvec::Vec3	WjR

fmatvec::Vec3	WaP
	acceleration and angular acceleration of coordinate system in inertial frame of reference

fmatvec::Vec3	WpsiP

std::shared_ptr< OpenMBV::Frame >	openMBVFrame

bool	updJac [3]

bool	updGA {true}

bool	updPos {true}

bool	updVel {true}

bool	updAcc {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

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

cartesian frame on bodies used for application of e.g. links and loads

Author: Martin Foerg

Date: 2009-03-19 some comments (Thorsten Schindler); 2009-04-08 stationary frame (Thorsten Schindler); 2009-07-06 deleted stationary frame (Thorsten Schindler)

Constructor & Destructor Documentation

◆ Frame()

MBSim::Frame::Frame ( const std::string & name = "dummy" )

constructor

Parameters

name	of coordinate system

Member Function Documentation

◆ createPlotGroup()

void MBSim::Frame::createPlotGroup ( )

overridevirtual

creates the plotGroup for H5-output

Reimplemented from MBSim::Element.

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::Element.

◆ plot()

void MBSim::Frame::plot ( )

overridevirtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

◆ resetUpToDate()

void MBSim::Frame::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::Element.

Member Data Documentation

◆ WjP

fmatvec::Vec3 MBSim::Frame::WjP

protected

translational and rotational acceleration not linear in the generalised velocity derivatives

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

/mbsim-env/mbsim/kernel/mbsim/frames/frame.h
/mbsim-env/mbsim/kernel/mbsim/frames/frame.cc

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Frame()

Member Function Documentation

◆ createPlotGroup()

◆ init()

◆ initializeUsingXML()

◆ plot()

◆ resetUpToDate()

Member Data Documentation

◆ WjP