class for connections: constraints on frames More...

#include <joint.h>

Inheritance diagram for MBSim::Joint:

Public Types
enum class	AngleMode { smallAngles , cardan }

Public Types inherited from MBSim::FloatingFrameLink
enum	FrameOfReference { firstFrame =0 , secondFrame , unknown }

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

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

	~Joint () override
	destructor

void	updatelaF () override

void	updatelaM () override

void	updatelaF0 ()

void	updatelaFS ()

void	updatelaFM ()

void	updatelaM0 ()

void	updatelaMS ()

void	updatelaMM ()

void	updateh (int i=0) override

void	updateW (int i=0) override

void	updateg () override

void	updategd () override

void	updatewb () override

void	updatexd () override

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

void	calcgSize (int j) override
	calculates size of relative distances More...

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

void	calcrFactorSize (int j) override
	calculates size of rfactors More...

void	calccorrSize (int j) override

void	calcxSize () override

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

bool	isSetValued () const override
	asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued More...

bool	isSingleValued () const override
	asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...

bool	isActive () const override

bool	gActiveChanged () override

void	solveImpactsFixpointSingle () override

void	solveConstraintsFixpointSingle () override

void	solveImpactsGaussSeidel () override

void	solveConstraintsGaussSeidel () override

void	solveImpactsRootFinding () override

void	solveConstraintsRootFinding () override

void	jacobianConstraints () override
	computes JACOBIAN and mass action matrix of nonlinear contact equations More...

void	jacobianImpacts () override
	computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level More...

void	updaterFactors () override
	update relaxation factors for contact equations More...

void	checkImpactsForTermination () override
	verify underlying force laws on velocity level concerning given tolerances More...

void	checkConstraintsForTermination () override
	verify underlying force laws concerning given tolerances More...

void	setForceLaw (GeneralizedForceLaw *rc)

void	setMomentLaw (GeneralizedForceLaw *rc)

void	setForceDirection (const fmatvec::Mat3xV &fd)

void	setMomentDirection (const fmatvec::Mat3xV &md)

void	setIntegrateGeneralizedRelativeVelocityOfRotation (bool integrateGeneralizedRelativeVelocityOfRotation_)

void	setAngleMode (AngleMode angleMode_)

fmatvec::VecV	evalGeneralizedRelativePositionOfRotation () override

void	initializeUsingXML (xercesc::DOMElement *element) override

Public Member Functions inherited from MBSim::FloatingFrameLink
	FloatingFrameLink (const std::string &name)
	constructor More...

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

void	calcSize () override

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

void	calcgSize (int j) override
	calculates size of relative distances More...

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

void	calcrFactorSize (int j) override
	calculates size of rfactors More...

void	calccorrSize (int j) override

void	initializeUsingXML (xercesc::DOMElement *element) override

void	updateW (int i=0) override

void	updateh (int i=0) override

void	updateg () override

void	updategd () override

void	setFrameOfReference (FrameOfReference refFrame_)
	The frame of reference for the force/moment direction vectors. If firstFrame (default) the first frame, if secondFrame the second frame is used.

void	resetUpToDate () override

void	updatePositions (Frame *frame) override

void	updateVelocities () override

void	updateGeneralizedPositions () override

void	updateGeneralizedVelocities () override

void	updateForceDirections () override

virtual fmatvec::VecV	evalGeneralizedRelativePositionOfRotation ()

Public Member Functions inherited from MBSim::FrameLink
	FrameLink (const std::string &name)
	constructor More...

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

void	initializeUsingXML (xercesc::DOMElement *element) override

void	connect (Frame frame0, Frame frame1)

Frame *	getFrame (int i)

void	resetUpToDate () override

const fmatvec::Mat3xV &	evalGlobalForceDirection ()

const fmatvec::Mat3xV &	evalGlobalMomentDirection ()

fmatvec::Mat3xV &	getGlobalForceDirection (bool check=true)

fmatvec::Mat3xV &	getGlobalMomentDirection (bool check=true)

void	updatePositions () override

void	updateForce () override

void	updateMoment () override

void	updateR () override

const fmatvec::Vec3 &	evalGlobalRelativePosition ()

const fmatvec::SqrMat3 &	evalGlobalRelativeOrientation ()

const fmatvec::Vec3 &	evalGlobalRelativeVelocity ()

const fmatvec::Vec3 &	evalGlobalRelativeAngularVelocity ()

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

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

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

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

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

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

void	updatehRef (fmatvec::Vec &hRef, int i=0) override
	references to complete and link smooth force vector of dynamic system parent More...

virtual void	updatedhdqRef (fmatvec::Mat &ref, int i=0)

virtual void	updatedhduRef (fmatvec::SqrMat &ref, int i=0)

virtual void	updatedhdtRef (fmatvec::Vec &ref, int i=0)

void	updaterRef (fmatvec::Vec &ref, int i=0) override
	references to nonsmooth force vector of dynamic system parent More...

Public Member Functions inherited from MBSim::MechanicalLink
	MechanicalLink (const std::string &name)
	constructor More...

void	resetUpToDate () override

virtual void	updatePositions ()

virtual void	updateVelocities ()

void	updateGeneralizedForces () override

virtual void	updateForce ()

virtual void	updateMoment ()

virtual void	updateForceDirections ()

virtual void	updatelaF ()

virtual void	updatelaM ()

virtual void	updateR ()

const fmatvec::Vec3 &	evalForce (int i=1)

const fmatvec::Vec3 &	evalMoment (int i=1)

const fmatvec::Mat3xV &	evalRF (int i=1)

const fmatvec::Mat3xV &	evalRM (int i=1)

const fmatvec::VecV &	evallaF ()

const fmatvec::VecV &	evallaM ()

fmatvec::Vec3 &	getForce (int i=1, bool check=true)

fmatvec::Vec3 &	getMoment (int i=1, bool check=true)

Frame *	getPointOfApplication (int i)

int	getNumberOfForces ()

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

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

Public Member Functions inherited from MBSim::Link
	Link (const std::string &name)
	constructor More...

virtual void	calcSize ()

int	getGeneralizedRelativePositionSize ()

int	getGeneralizedRelativeVelocitySize ()

int	getGeneralizedForceSize ()

virtual void	updateg ()

virtual void	updategd ()

virtual void	updatewb ()

virtual void	updateW (int i=0)

virtual void	updateV (int i=0)

virtual void	updater (int i=0)

virtual void	updateJrla (int i=0)

virtual void	updateh (int i=0)

virtual void	updateStopVector ()

virtual void	updateStopVectorParameters ()

virtual void	updateLinkStatus ()

virtual void	updateLinkStatusReg ()

virtual void	updateJacobians (int j=0)

virtual void	updateb ()

virtual void	updatedx ()

virtual void	updatexd ()

virtual void	calcxSize ()

const fmatvec::Vec &	getx () const

fmatvec::Vec &	getx ()

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

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

int	getxInd ()

virtual void	setxInd (int xInd_)

int	getxSize () const

virtual void	updatexRef (fmatvec::Vec &ref)

virtual void	updatexdRef (fmatvec::Vec &ref)

virtual void	updatedxRef (fmatvec::Vec &ref)

virtual void	updatebRef (fmatvec::Mat &hRef)

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

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)

virtual void	readz0 (H5::GroupBase *group)

virtual void	setbInd (int bInd_)

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

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

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

virtual void	updatehRef (fmatvec::Vec &hRef, int i=0)=0
	references to complete and link smooth force vector of dynamic system parent More...

virtual void	updaterRef (fmatvec::Vec &ref, int i=0)=0
	references to nonsmooth force vector of dynamic system parent More...

virtual void	updateJrlaRef (fmatvec::Mat &ref, int i=0)

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

virtual void	updatelaRef (fmatvec::Vec &ref)
	references to contact force parameter of dynamic system parent More...

virtual void	updateLaRef (fmatvec::Vec &ref)
	references to contact force parameter of dynamic system parent More...

virtual void	deletelaRef ()
	delete reference to contact force parameter of dynamic system parent

virtual void	updateInternalStateRef (fmatvec::Vec &cur, fmatvec::Vec &next)
	references to internal state of dynamic system parent More...

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

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

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

virtual void	updaterFactorRef (fmatvec::Vec &ref)
	references to rfactors of dynamic system parent More...

virtual void	updatesvRef (fmatvec::Vec &sv)
	references to stopvector of dynamic system parent (root function for event driven integration) More...

virtual void	updatejsvRef (fmatvec::VecInt &jsvParent)
	references to stopvector evaluation of dynamic system parent (root detection with corresponding bool array by event driven integrator) More...

virtual void	updateLinkStatusRef (fmatvec::VecInt &LinkStatusParent)
	reference to vector of link status (for set valued links with piecewise link equations) More...

virtual void	updateLinkStatusRegRef (fmatvec::VecInt &LinkStatusRegParent)
	reference to vector of link status (for single-valued links) More...

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

int	getisInd ()

int	getisSize ()

virtual void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

virtual void	calcgSize (int j)
	calculates size of relative distances More...

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

virtual void	calcrFactorSize (int j)
	calculates size of rfactors More...

virtual void	calcbSize ()
	calculates size of rfactors More...

virtual void	calcsvSize ()
	calculates size of stopvector (root function for event driven integration) More...

virtual void	calcLinkStatusSize ()
	calculates size of vector LinkStatus More...

virtual void	calcLinkStatusRegSize ()
	calculates size of vector LinkStatusReg More...

virtual bool	isSetValued () const
	asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued More...

virtual bool	isSingleValued () const
	asks the link if it contains single valued force laws that contribute to the right-hand side vector h More...

virtual bool	isActive () const =0

virtual bool	gActiveChanged ()=0

virtual bool	detectImpact ()

virtual void	solveImpactsFixpointSingle ()

virtual void	solveConstraintsFixpointSingle ()

virtual void	solveImpactsGaussSeidel ()

virtual void	solveConstraintsGaussSeidel ()

virtual void	solveImpactsRootFinding ()

virtual void	solveConstraintsRootFinding ()

virtual void	jacobianConstraints ()
	computes JACOBIAN and mass action matrix of nonlinear contact equations More...

virtual void	jacobianImpacts ()
	computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level More...

virtual void	updaterFactors ()
	update relaxation factors for contact equations More...

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

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

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

virtual void	setGeneralizedForceTolerance (double tol)

virtual void	setGeneralizedImpulseTolerance (double tol)

virtual void	setGeneralizedRelativePositionTolerance (double tol)

virtual void	setGeneralizedRelativeVelocityTolerance (double tol)

virtual void	setGeneralizedRelativeAccelerationTolerance (double tol)

virtual void	setGeneralizedRelativePositionCorrectionValue (double corr)

virtual void	setGeneralizedRelativeVelocityCorrectionValue (double corr)

virtual void	setrMax (double rMax_)

virtual void	setLinkStatusInd (int LinkStatusInd_)

virtual void	setLinkStatusRegInd (int LinkStatusRegInd_)

virtual void	setlaInd (int laInd_)

virtual void	setisInd (int isInd_)

virtual void	setgInd (int gInd_)

virtual void	setgdInd (int gdInd_)

virtual void	setrFactorInd (int rFactorInd_)

virtual void	LinearImpactEstimation (double t, fmatvec::Vec &gInActive_, fmatvec::Vec &gdInActive_, int IndInActive_, fmatvec::Vec &gAct_, int IndActive_)
	get gap distance and calculate gap velocity of unilateral links to estimate impacts within the next step More...

virtual void	SizeLinearImpactEstimation (int sizeInActive_, int sizeActive_)
	calculates the number of active and inactive unilateral constraints and increments sizeActive/sizeInActive More...

virtual void	updatecorr (int j)

virtual void	updatecorrRef (fmatvec::Vec &ref)

virtual void	calccorrSize (int j)

virtual void	setcorrInd (int corrInd_)

virtual void	checkRoot ()

void	setx (const fmatvec::Vec &x_)

virtual void	setsvInd (int svInd_)

int	getsvSize () const

int	getLinkStatusSize () const

int	getLinkStatusRegSize () const

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

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

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

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

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

int	getlaInd () const

int	getlaSize () const

int	getbSize () const

const fmatvec::Vec &	evalg ()

const fmatvec::Vec &	evalgd ()

const fmatvec::Vec &	evalla ()

const fmatvec::Vec &	evalLa ()

const fmatvec::Vec &	evalwb ()

const fmatvec::Vec &	evalxd ()

int	getgdInd () const

int	getgSize () const

int	getgdSize () const

int	getrFactorSize () const

const fmatvec::VecInt &	getrFactorUnsure () const

void	resetUpToDate () override

virtual void	updateGeneralizedPositions ()

virtual void	updateGeneralizedVelocities ()

virtual void	updateGeneralizedForces ()

const fmatvec::VecV &	evalGeneralizedRelativePosition ()

const fmatvec::VecV &	evalGeneralizedRelativeVelocity ()

const fmatvec::VecV &	evalGeneralizedForce ()

fmatvec::VecV &	getGeneralizedRelativePosition (bool check=true)

fmatvec::VecV &	getGeneralizedRelativeVelocity (bool check=true)

fmatvec::VecV &	getGeneralizedForce (bool check=true)

void	savela ()
	saves contact forces for use as starting value in next time step

void	saveLa ()
	saves contact impulses for use as starting value in next time step

void	initla ()
	load contact forces for use as starting value

void	initLa ()
	load contact impulses for use as starting value

void	decreaserFactors ()
	decrease rfactor if mass action matrix is not diagonal dominant (cf. Foerg: Dissertation, page 80 et seq.)

int	getcorrSize () const

bool	getUpdaterrel () const

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

Public Attributes
void(Joint::*	updatelaF_ )()

void(Joint::*	updatelaM_ )()

Protected Attributes
GeneralizedForceLaw *	ffl {nullptr}

GeneralizedForceLaw *	fml {nullptr}

GeneralizedImpactLaw *	fifl {nullptr}

GeneralizedImpactLaw *	fiml {nullptr}

fmatvec::Vec	gdn
	relative velocity and acceleration after an impact for event driven scheme summarizing all possible contacts

fmatvec::Vec	gdd

bool	integrateGeneralizedRelativeVelocityOfRotation {false}

AngleMode	angleMode { AngleMode::smallAngles }

bool	disableAngleWarning { false }

fmatvec::Mat3xV	RF

fmatvec::Mat3xV	RM

fmatvec::RangeV	iFM

fmatvec::RangeV	iMM

Protected Attributes inherited from MBSim::FloatingFrameLink
fmatvec::Mat3xV	forceDir
	directions of force and moment in frame of reference

fmatvec::Mat3xV	momentDir

FrameOfReference	refFrame {firstFrame}
	frame of reference the force is defined in

FloatingRelativeFrame	C
	own frame located in second partner with same orientation as first partner

Protected Attributes inherited from MBSim::FrameLink
std::vector< Frame * >	frame
	array in which all frames are listed, connecting bodies via a link

fmatvec::Vec3	WrP0P1
	difference vector of position, velocity and angular velocity

fmatvec::Vec3	WvP0P1

fmatvec::Vec3	WomK0K1

fmatvec::SqrMat3	AK0K1

fmatvec::Mat3xV	DF

fmatvec::Mat3xV	DM

bool	updPos

bool	updVel

bool	updDF

Protected Attributes inherited from MBSim::MechanicalLink
std::vector< Frame * >	P

std::vector< fmatvec::Mat3xV >	RF

std::vector< fmatvec::Mat3xV >	RM

fmatvec::VecV	lambdaF

fmatvec::VecV	lambdaM

std::vector< fmatvec::Vec3 >	F

std::vector< fmatvec::Vec3 >	M

fmatvec::RangeV	iF
	indices of forces and torques

fmatvec::RangeV	iM

bool	updF

bool	updM

bool	updRMV

bool	updlaF

bool	updlaM

Protected Attributes inherited from MBSim::Link
int	ng

int	ngd

int	nla

fmatvec::Vec	x
	order one parameters

fmatvec::Vec	xd
	differentiated order one parameters

fmatvec::Vec	dx

fmatvec::Vec	x0
	order one initial value

int	xSize
	size and local index of order one parameters

int	xInd

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

fmatvec::VecInt	jsv
	evaluation of roots of stop vector with a boolean vector

int	svSize
	size and local index of stop vector

int	svInd

fmatvec::VecInt	LinkStatus
	status of link (default 0) describing which piece of the equation is valid (e.g. stick or slip) More...

int	LinkStatusSize
	size and local index of link status vector (set-valued)

int	LinkStatusInd

fmatvec::VecInt	LinkStatusReg
	status of link More...

int	LinkStatusRegSize
	size and local index of single-valued link status vector

int	LinkStatusRegInd

fmatvec::Vec	curis

fmatvec::Vec	nextis

fmatvec::Vec	g
	relative position, relative velocity, contact force and impact parameters

fmatvec::Vec	gd

fmatvec::Vec	la

fmatvec::Vec	La

fmatvec::Vec	laS
	contact forces of smooth contact laws

int	isSize

int	isInd

int	gSize
	size and local index of relative distances

int	gInd

int	gdSize
	size and local index of relative velocities

int	gdInd

int	laSize
	size and local index of contact force parameters

int	laInd

int	bSize
	size and local index of contact force parameters

int	bInd

fmatvec::RangeV	Ig
	local index of relative distances and contact force parameters

fmatvec::RangeV	Ila

double	gTol
	tolerance for relative position, relative velocity, relative acceleration, force and impact

double	gdTol

double	gddTol

double	laTol

double	LaTol

double	gCorr
	correction factor for relative position and relative velocity

double	gdCorr

fmatvec::Vec	la0
	attribute to save contact force parameter of previous time step

fmatvec::Vec	La0

fmatvec::Vec	rFactor
	vector of rfactors for relaxation of contact equations

fmatvec::VecInt	rFactorUnsure
	boolean vector defining if rfactor belongs to not diagonal dominant mass action matrix (cf. Foerg Dissertation, page 80 et seq.)

int	rFactorSize
	size and local index of rfactors

int	rFactorInd

double	rMax
	maximum r-factor

fmatvec::Vec	res

std::vector< fmatvec::Mat >	W [2]
	force direction matrix for nonsmooth right hand side

std::vector< fmatvec::Mat >	V [2]
	reduced force direction matrix for nonsmooth right hand side

std::vector< fmatvec::Vec >	h [2]
	smooth complete and link right hand side

std::vector< fmatvec::Mat >	dhdq
	smooth Jacobians for implicit integration

std::vector< fmatvec::Mat >	dhdu

std::vector< fmatvec::Vec >	dhdt

std::vector< fmatvec::Vec >	r [2]
	nonsmooth right hand side

std::vector< fmatvec::Mat >	Jrla [2]
	Jacobian dr/dla.

fmatvec::Vec	wb
	TODO.

fmatvec::Mat	b
	TODO.

int	corrSize

int	corrInd

fmatvec::Vec	corr

fmatvec::VecV	rrel

fmatvec::VecV	vrel

fmatvec::VecV	lambda

bool	updSize

bool	updrrel

bool	updvrel

bool	updla

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
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 connections: constraints on frames

Author: Martin Foerg

Date: 2009-04-06 MechanicalLink added (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-08-21 one force direction (Thorsten Schindler); 2014-09-16 contact forces are calculated on acceleration level (Thorsten Schindler)

Todo:: hSize Frame C

Constructor & Destructor Documentation

◆ Joint()

MBSim::Joint::Joint ( const std::string & name = "" )

inline

constructor

Parameters

name

Member Function Documentation

◆ calccorrSize()

void MBSim::Joint::calccorrSize ( int j )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ calcgdSize()

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

overridevirtual

calculates size of gap velocities

Parameters

flag	to decide which contacts are included in the calculation

see SingleContact for the implementation and DynamicSystem for explanation

Reimplemented from MBSim::FloatingFrameLink.

◆ calcgSize()

void MBSim::Joint::calcgSize ( int j )

overridevirtual

calculates size of relative distances

Reimplemented from MBSim::FloatingFrameLink.

◆ calclaSize()

void MBSim::Joint::calclaSize ( int j )

overridevirtual

calculates size of contact force parameters

Reimplemented from MBSim::FloatingFrameLink.

◆ calcrFactorSize()

void MBSim::Joint::calcrFactorSize ( int j )

overridevirtual

calculates size of rfactors

Reimplemented from MBSim::FloatingFrameLink.

◆ calcxSize()

void MBSim::Joint::calcxSize ( )

inlineoverridevirtual

Reimplemented from MBSim::Link.

◆ checkConstraintsForTermination()

void MBSim::Joint::checkConstraintsForTermination ( )

overridevirtual

verify underlying force laws concerning given tolerances

Reimplemented from MBSim::Link.

◆ checkImpactsForTermination()

void MBSim::Joint::checkImpactsForTermination ( )

overridevirtual

verify underlying force laws on velocity level concerning given tolerances

Reimplemented from MBSim::Link.

◆ evalGeneralizedRelativePositionOfRotation()

VecV MBSim::Joint::evalGeneralizedRelativePositionOfRotation ( )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ gActiveChanged()

bool MBSim::Joint::gActiveChanged ( )

inlineoverridevirtual

Returns: has the relative distance vector changed?

Implements MBSim::Link.

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::FloatingFrameLink.

Reimplemented in MBSim::InverseKineticsJoint.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ isActive()

bool MBSim::Joint::isActive ( ) const

inlineoverridevirtual

Returns: are link equations active?

Implements MBSim::Link.

◆ isSetValued()

bool MBSim::Joint::isSetValued ( ) const

overridevirtual

asks the link if it contains force laws that contribute to the lagrange multiplier and is therefore set valued

Returns: set valued force laws used within the link?

Reimplemented from MBSim::Link.

Reimplemented in MBSim::InverseKineticsJoint.

◆ isSingleValued()

bool MBSim::Joint::isSingleValued ( ) const

overridevirtual

asks the link if it contains single valued force laws that contribute to the right-hand side vector h

Returns: single valued force laws used within link?

Reimplemented from MBSim::Link.

◆ jacobianConstraints()

void MBSim::Joint::jacobianConstraints ( )

overridevirtual

computes JACOBIAN and mass action matrix of nonlinear contact equations

Reimplemented from MBSim::Link.

◆ jacobianImpacts()

void MBSim::Joint::jacobianImpacts ( )

overridevirtual

computes JACOBIAN and mass action matrix of nonlinear contact equations on velocity level

Reimplemented from MBSim::Link.

◆ setForceDirection()

void MBSim::Joint::setForceDirection ( const fmatvec::Mat3xV & fd )

inline

Parameters

local force direction represented in first frame

◆ setMomentDirection()

void MBSim::Joint::setMomentDirection ( const fmatvec::Mat3xV & md )

inline

Parameters

local moment direction represented in first frame

◆ solveConstraintsFixpointSingle()

void MBSim::Joint::solveConstraintsFixpointSingle ( )

overridevirtual

solve contact equations of motion with single step fixed point scheme

Reimplemented from MBSim::Link.

◆ solveConstraintsGaussSeidel()

void MBSim::Joint::solveConstraintsGaussSeidel ( )

overridevirtual

solve contact equations of motion with Gauss-Seidel scheme

Reimplemented from MBSim::Link.

◆ solveConstraintsRootFinding()

void MBSim::Joint::solveConstraintsRootFinding ( )

overridevirtual

solve contact equations of motion with Newton scheme

Reimplemented from MBSim::Link.

◆ solveImpactsFixpointSingle()

void MBSim::Joint::solveImpactsFixpointSingle ( )

overridevirtual

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

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ solveImpactsGaussSeidel()

void MBSim::Joint::solveImpactsGaussSeidel ( )

overridevirtual

solve impact equations of motion with Gauss-Seidel scheme on velocity level

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ solveImpactsRootFinding()

void MBSim::Joint::solveImpactsRootFinding ( )

overridevirtual

solve impact equations of motion with Newton scheme on velocity level

Parameters

time step-size

Reimplemented from MBSim::Link.

◆ updateg()

void MBSim::Joint::updateg ( )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ updategd()

void MBSim::Joint::updategd ( )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ updateh()

void MBSim::Joint::updateh ( int i = 0 )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ updatelaF()

void MBSim::Joint::updatelaF ( )

inlineoverridevirtual

Reimplemented from MBSim::MechanicalLink.

◆ updatelaM()

void MBSim::Joint::updatelaM ( )

inlineoverridevirtual

Reimplemented from MBSim::MechanicalLink.

◆ updaterFactors()

void MBSim::Joint::updaterFactors ( )

overridevirtual

update relaxation factors for contact equations

Reimplemented from MBSim::Link.

◆ updateW()

void MBSim::Joint::updateW ( int i = 0 )

overridevirtual

Reimplemented from MBSim::FloatingFrameLink.

◆ updatewb()

void MBSim::Joint::updatewb ( )

overridevirtual

Reimplemented from MBSim::Link.

◆ updatexd()

void MBSim::Joint::updatexd ( )

overridevirtual

Reimplemented from MBSim::Link.

Member Data Documentation

◆ ffl

GeneralizedForceLaw* MBSim::Joint::ffl {nullptr}

protected

constitutive law on acceleration level for forces and torques (f?-force-law)

◆ fifl

GeneralizedImpactLaw* MBSim::Joint::fifl {nullptr}

protected

constitutive law on velocity level for forces and torques (f?-impact-force-law)

◆ fiml

GeneralizedImpactLaw* MBSim::Joint::fiml {nullptr}

protected

constitutive law on velocity level for moments/torques (f?-impact-moment-law)

◆ fml

GeneralizedForceLaw* MBSim::Joint::fml {nullptr}

protected

constitutive law on acceleration level for moments/torques (f?-moment-law)

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

/mbsim-env/mbsim/kernel/mbsim/links/joint.h
/mbsim-env/mbsim/kernel/mbsim/links/joint.cc

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Joint()

Member Function Documentation

◆ calccorrSize()

◆ calcgdSize()

◆ calcgSize()

◆ calclaSize()

◆ calcrFactorSize()

◆ calcxSize()

◆ checkConstraintsForTermination()

◆ checkImpactsForTermination()

◆ evalGeneralizedRelativePositionOfRotation()

◆ gActiveChanged()

◆ init()

◆ initializeUsingXML()

◆ isActive()

◆ isSetValued()

◆ isSingleValued()

◆ jacobianConstraints()

◆ jacobianImpacts()

◆ setForceDirection()

◆ setMomentDirection()

◆ solveConstraintsFixpointSingle()

◆ solveConstraintsGaussSeidel()

◆ solveConstraintsRootFinding()

◆ solveImpactsFixpointSingle()

◆ solveImpactsGaussSeidel()

◆ solveImpactsRootFinding()

◆ updateg()

◆ updategd()

◆ updateh()

◆ updatelaF()

◆ updatelaM()

◆ updaterFactors()

◆ updateW()

◆ updatewb()

◆ updatexd()

Member Data Documentation

◆ ffl

◆ fifl

◆ fiml

◆ fml