MBSim::MechanicalLink Class Reference
mechanical link More...
#include <mechanical_link.h>
Inheritance diagram for MBSim::MechanicalLink:
Public Member Functions | |
| 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 |
Protected Attributes | |
| 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 | |
| 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
mechanical link
Constructor & Destructor Documentation
◆ MechanicalLink()
| MBSim::MechanicalLink::MechanicalLink | ( | const std::string & | name | ) |
constructor
- Parameters
-
name of link
Member Function Documentation
◆ init()
|
overridevirtual |
plots time series header
- Parameters
-
invocing parent class
Reimplemented from MBSim::Link.
Reimplemented in MBSim::SpringDamper, MBSim::RigidBodyLink, MBSim::SingleContact, and MBSim::TyreContact.
◆ plot()
|
overridevirtual |
plots time dependent data
- Parameters
-
simulation time simulation time step size for derivative calculation
Reimplemented from MBSim::Link.
Reimplemented in MBSim::SpringDamper, and MBSim::TyreContact.
◆ resetUpToDate()
|
overridevirtual |
Reimplemented from MBSim::Link.
◆ updateGeneralizedForces()
|
overridevirtual |
Reimplemented from MBSim::Link.
The documentation for this class was generated from the following files:
- /mbsim-env/mbsim/kernel/mbsim/links/mechanical_link.h
- /mbsim-env/mbsim/kernel/mbsim/links/mechanical_link.cc