#include <joint_constraint.h>

Inheritance diagram for MBSim::JointConstraint:

Classes
class	Residuum

Public Types
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
	JointConstraint (const std::string &name="")

void	calcisSize () override

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

void	resetUpToDate () override

void	connect (Frame frame0, Frame frame1)

void	addDependentRigidBodyOnFirstSide (RigidBody *bd)

void	addDependentRigidBodyOnSecondSide (RigidBody *bd)

void	setIndependentRigidBody (RigidBody *bi_)

void	addIndependentRigidBody (RigidBody *bi_)

void	setUpInverseKinetics () override

void	setForceDirection (const fmatvec::Mat3xV &fd)

void	setMomentDirection (const fmatvec::Mat3xV &md)

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	updatePositions (Frame *frame) override

void	updateGeneralizedCoordinates () override

void	updateGeneralizedJacobians (int jj=0) override

void	updateForceDirections ()

void	updateA ()

const fmatvec::Mat3xV &	evalGlobalForceDirection ()

const fmatvec::Mat3xV &	evalGlobalMomentDirection ()

const fmatvec::SqrMat &	evalA ()

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

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

fmatvec::SqrMat &	getA (bool check=true)

void	setInitialGuess (const fmatvec::VecV &q0_)

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

Private Attributes
std::unique_ptr< Residuum >	residuum

std::unique_ptr< MultiDimNewtonMethod >	newton

std::vector< RigidBody * >	bd1

std::vector< RigidBody * >	bd2

std::vector< RigidBody * >	bi

std::vector< Frame * >	frame

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

FloatingRelativeFrame	C

fmatvec::Mat3xV	DF

fmatvec::Mat3xV	DM

fmatvec::Mat3xV	forceDir

fmatvec::Mat3xV	momentDir

fmatvec::RangeV	iF

fmatvec::RangeV	iM

std::vector< fmatvec::RangeV >	Iq1

std::vector< fmatvec::RangeV >	Iq2

std::vector< fmatvec::RangeV >	Iu1

std::vector< fmatvec::RangeV >	Iu2

std::vector< fmatvec::RangeV >	Ih1

std::vector< fmatvec::RangeV >	Ih2

int	nq {0}

int	nu {0}

int	nh {0}

fmatvec::Vec	q0

fmatvec::Mat	JT

fmatvec::Mat	JR

fmatvec::SqrMat	A

bool	updDF {true}

bool	updA {true}

std::string	saved_ref1

std::string	saved_ref2

std::vector< std::string >	saved_RigidBodyFirstSide

std::vector< std::string >	saved_RigidBodySecondSide

std::vector< std::string >	saved_IndependentBody

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)

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

Detailed Description

Joint contraint.

Author: Martin Foerg 2011-08-04 XML Interface added (Markus Schneider)

Member Function Documentation

◆ calcisSize()

void MBSim::JointConstraint::calcisSize ( )

overridevirtual

Reimplemented from MBSim::Constraint.

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

◆ initializeUsingXML()

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

overridevirtual

Reimplemented from MBSim::Element.

◆ resetUpToDate()

void MBSim::JointConstraint::resetUpToDate ( )

overridevirtual

Reimplemented from MBSim::Constraint.

◆ setUpInverseKinetics()

void MBSim::JointConstraint::setUpInverseKinetics ( )

overridevirtual

Reimplemented from MBSim::Constraint.

◆ updateGeneralizedCoordinates()

void MBSim::JointConstraint::updateGeneralizedCoordinates ( )

overridevirtual

Reimplemented from MBSim::Constraint.

◆ updateGeneralizedJacobians()

void MBSim::JointConstraint::updateGeneralizedJacobians ( int jj = 0 )

overridevirtual

Reimplemented from MBSim::Constraint.

◆ updatePositions()

void MBSim::JointConstraint::updatePositions ( Frame * frame )

overridevirtual

Reimplemented from MBSim::Element.

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

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

Classes

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ calcisSize()

◆ init()

◆ initializeUsingXML()

◆ resetUpToDate()

◆ setUpInverseKinetics()

◆ updateGeneralizedCoordinates()

◆ updateGeneralizedJacobians()

◆ updatePositions()