Class for dual generalized constraints. More...

#include <generalized_dual_constraint.h>

Inheritance diagram for MBSim::GeneralizedDualConstraint:

Public Member Functions
	GeneralizedDualConstraint (const std::string &name)

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

void	setDependentRigidBody (RigidBody *body_)

void	setIndependentRigidBody (RigidBody *body_)

void	initializeUsingXML (xercesc::DOMElement *element) override

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

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

virtual void	setSupportFrame (Frame *frame)

void	initializeUsingXML (xercesc::DOMElement *element) override

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

MechanicalLink *	getMechanicalLink ()

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

virtual void	updateGeneralizedCoordinates ()

virtual void	updateGeneralizedJacobians (int j=0)

virtual void	updatedx ()

virtual void	updatexd ()

virtual void	calcxSize ()

const fmatvec::Vec &	getx () const

fmatvec::Vec &	getx ()

int	getxInd ()

virtual void	setxInd (int xInd_)

int	getxSize () const

int	getisInd ()

virtual void	setisInd (int isInd_)

int	getisSize ()

virtual void	updatexRef (fmatvec::Vec &xParent)

virtual void	updatexdRef (fmatvec::Vec &xdParent)

virtual void	updatedxRef (fmatvec::Vec &dxParent)

virtual void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)

virtual void	readz0 (H5::GroupBase *group)

virtual void	setUpInverseKinetics ()

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

bool	getUpdateGeneralizedCoordinates () const

bool	getUpdateGeneralizedJacobians () const

virtual void	updateInternalStateRef (fmatvec::Vec &cur, fmatvec::Vec &next)

void	resetUpToDate () override

const fmatvec::Vec &	evalxd ()

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
RigidBody *	bd

RigidBody *	bi

std::string	saved_IndependentBody

std::string	saved_DependentBody

Protected Attributes inherited from MBSim::GeneralizedConstraint
Frame *	support

Protected Attributes inherited from MBSim::MechanicalConstraint
MechanicalLink *	link

Protected Attributes inherited from MBSim::Constraint
fmatvec::Vec	x
	order one parameters

fmatvec::Vec	xd
	differentiated order one parameters

fmatvec::Vec	dx

fmatvec::Vec	x0
	order one initial value

fmatvec::Vec	curis

fmatvec::Vec	nextis

int	xSize
	size and local index of order one parameters

int	xInd

int	isSize

int	isInd

bool	updGC

bool	updGJ

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

Class for dual generalized constraints.

Author: Martin Foerg

Member Function Documentation

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::GeneralizedConstraint.

Reimplemented in MBSim::GeneralizedPositionConstraint, and MBSim::GeneralizedVelocityConstraint.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::GeneralizedConstraint.

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

/mbsim-env/mbsim/kernel/mbsim/constraints/generalized_dual_constraint.h
/mbsim-env/mbsim/kernel/mbsim/constraints/generalized_dual_constraint.cc

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ init()

◆ initializeUsingXML()