Frustum contour with a polynomial radius over height course. More...

#include <polynomial_frustum.h>

Inheritance diagram for MBSim::PolynomialFrustum:

Public Member Functions
	PolynomialFrustum (const std::string &name, const fmatvec::Vec &param_)
	Constructor. More...

	~PolynomialFrustum () override=default
	Destructor.

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

fmatvec::Vec2	evalZeta (const fmatvec::Vec3 &WrPoint) override
	returns the two lagrange parameters index 0: x, height coordinate of frustum index 1: phi, angle of point More...

void	setHeight (const double &height_)
	set height of frustum More...

double	getHeight ()
	return height of frustum

double	getHeight () const
	return height of frustum

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBV, tag,(optional(polynomialPoints,(int), 0)(circularPoints,(int), 25)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
	enable visualisation More...

void	setColor (const MBSim::RGBColor &color_)
	set color of body

void	setTransparency (const double &transparency_)
	set transparency of body

double	evalValue (const double &x)
	get value at position of 0 derivative

double	evalValue (const double &x) const
	get value at position of 0 derivative

double	evalValueD1 (const double &x)
	get value at position of first derivative

double	evalValueD1 (const double &x) const
	get value at position of first derivative

double	evalValueD2 (const double &x)
	get value at position of second derivative

double	evalValueD2 (const double &x) const
	get value at position of second derivative

double	getXPolyMax ()
	get inner peak value of the polynomial

double	getEnclosingSphereRadius ()
	take the largest one among the distance from ((a+b)/2,0) to (a,f(a)),(b,f(b)) and (x,f(x)) where f(x) achieves maximum at x within[a,b] More...

fmatvec::Vec3	getEnclosingSphereCenter ()
	return the center of the enclosing sphere

const fmatvec::Vec &	getPolynomialParameters ()
	get coefficient vector of the polynomial

fmatvec::Vec3	evalKrPS (const fmatvec::Vec2 &zeta) override
	returns the point in local coordinates of the frustum at the position (x, phi) More...

fmatvec::Vec3	evalKn (const fmatvec::Vec2 &zeta) override
	returns the normal in local coordinates of the frustum at the position (x, phi) More...

fmatvec::Vec3	evalKu (const fmatvec::Vec2 &zeta) override
	returns the tangent in radial direction in local coordinates of the frustum at the position (x, phi) More...

fmatvec::Vec3	evalKv (const fmatvec::Vec2 &zeta) override
	returns the tangent in azimuthal direction in local coordinates of the frustum at the point x, phi More...

void	updateEnclosingSphere ()

void	createInventorFile ()
	create inventor file for visualisation

void	enableOpenMBV_ (const fmatvec::Vec3 &dc, double tp, int polynomialPoints_, int circularPoints_)

Public Member Functions inherited from MBSim::RigidContour
	RigidContour (const std::string &name, Frame *R_=nullptr)
	constructor More...

ContourFrame *	createContourFrame (const std::string &name="P") override

Frame *	getFrame ()

Frame *	getFrameOfReference ()

void	setFrameOfReference (Frame *frame)

void	setFrameOfReference (const std::string &frame)

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

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

virtual fmatvec::Vec3	evalKrPS (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalKs (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalKt (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalKu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalKv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalKn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Ks (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Ks (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Kt (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Kt (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Kn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Kn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Ku (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Ku (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Kv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Kv (const fmatvec::Vec2 &zeta)

fmatvec::Vec3	evalPosition (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalWu (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalWv (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalWn (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer1Wn (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer2Wn (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer1Wu (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer2Wu (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer1Wv (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParDer2Wv (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalWs (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalWt (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParWvCParEta (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParWvCParXi (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParWnPart (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParWuPart (const fmatvec::Vec2 &zeta) override

fmatvec::Vec3	evalParWvPart (const fmatvec::Vec2 &zeta) override

fmatvec::Vec2	evalCurvatures (const fmatvec::Vec2 &zeta) override

ContactKinematics *	findContactPairingWith (const std::type_info &type0, const std::type_info &type1) override
	contact search for RigidContours More...

void	initializeUsingXML (xercesc::DOMElement *element) override

std::shared_ptr< OpenMBV::RigidBody > &	getOpenMBVRigidBody ()

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

	~Contour () override=default
	destructor

virtual ContactKinematics *	findContactPairingWith (const std::type_info &type0, const std::type_info &type1)=0
	find contact kinematics More...

virtual ContourFrame *	createContourFrame (const std::string &name="P")

const std::vector< double > &	getEtaNodes () const

const std::vector< double > &	getXiNodes () const

void	setEtaNodes (const std::vector< double > &etaNodes_)

void	setXiNodes (const std::vector< double > &xiNodes_)

virtual int	gethSize (int i=0) const

virtual int	gethInd (int i=0) const

virtual void	sethSize (int size, int i=0)

virtual void	sethInd (int ind, int i=0)

virtual fmatvec::Vec3	evalPosition (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWs (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWt (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWN (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWR (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWU (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalWV (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvCParEta (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvCParXi (const fmatvec::Vec2 &zeta)

virtual fmatvec::Mat3x2	evalParWvCParZeta (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWnPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWuPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParWvPart (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec2	evalZeta (const fmatvec::Vec3 &WrPS)

virtual fmatvec::Vec2	evalCurvatures (const fmatvec::Vec2 &zeta)

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setThickness (double thickness_)

double	getThickness () const

virtual bool	isZetaOutside (const fmatvec::Vec2 &zeta)

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
fmatvec::Vec	parameters
	vector holding our parameters of the polynom describing the frustum (radius over height) parameters=[a0,a1,a2,...an]

double	height
	height of the frustum

double	sphereRadius
	radius of the enclosing sphere

MBSim::RGBColor	color
	color values for the iv-body

double	transparency
	transparency value for the body

int	polynomialPoints
	grid points in polynomial direction

int	circularPoints
	grid points in polynomial direction

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)

Protected Attributes inherited from MBSim::RigidContour
Frame *	R
	coordinate system of contour

std::shared_ptr< OpenMBV::RigidBody >	openMBVRigidBody

Protected Attributes inherited from MBSim::Contour
int	hSize [2]
	size and index of right hand side for frame JACOBIAN settings

int	hInd [2]

std::vector< double >	etaNodes

std::vector< double >	xiNodes

double	thickness
	thickness of contour

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

Static Protected Attributes inherited from MBSim::Contour
static fmatvec::Vec3	zero3

static fmatvec::Vec3	ex

static fmatvec::Vec3	ey

static fmatvec::Vec3	ez

Detailed Description

Frustum contour with a polynomial radius over height course.

Author: Kilian Grundl, Tingting Sun

Date: 09.10.2012

Constructor & Destructor Documentation

◆ PolynomialFrustum()

MBSim::PolynomialFrustum::PolynomialFrustum	(	const std::string &	name,
		const fmatvec::Vec &	param_
	)

Constructor.

Parameters

name	Name of the contour
param_

Member Function Documentation

◆ BOOST_PARAMETER_MEMBER_FUNCTION()

MBSim::PolynomialFrustum::BOOST_PARAMETER_MEMBER_FUNCTION	(	(void)	,
		enableOpenMBV	,
		tag	,
		(optional(polynomialPoints,(int), 0)(circularPoints,(int), 25)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0))
	)

inline

enable visualisation

Parameters

enable	enable or disable openmbv
polynomialPoints	how fine should the grid be in polynomial direction
circulaPoints	how fine should the grid be in circular direction

◆ evalKn()

Vec3 MBSim::PolynomialFrustum::evalKn ( const fmatvec::Vec2 & zeta )

overridevirtual

returns the normal in local coordinates of the frustum at the position (x, phi)

Reimplemented from MBSim::RigidContour.

◆ evalKrPS()

Vec3 MBSim::PolynomialFrustum::evalKrPS ( const fmatvec::Vec2 & zeta )

overridevirtual

returns the point in local coordinates of the frustum at the position (x, phi)

Reimplemented from MBSim::RigidContour.

◆ evalKu()

Vec3 MBSim::PolynomialFrustum::evalKu ( const fmatvec::Vec2 & zeta )

overridevirtual

returns the tangent in radial direction in local coordinates of the frustum at the position (x, phi)

Reimplemented from MBSim::RigidContour.

◆ evalKv()

Vec3 MBSim::PolynomialFrustum::evalKv ( const fmatvec::Vec2 & zeta )

overridevirtual

returns the tangent in azimuthal direction in local coordinates of the frustum at the point x, phi

Reimplemented from MBSim::RigidContour.

◆ evalZeta()

Vec2 MBSim::PolynomialFrustum::evalZeta ( const fmatvec::Vec3 & WrPoint )

overridevirtual

returns the two lagrange parameters index 0: x, height coordinate of frustum index 1: phi, angle of point

Reimplemented from MBSim::Contour.

◆ getEnclosingSphereRadius()

double MBSim::PolynomialFrustum::getEnclosingSphereRadius ( )

take the largest one among the distance from ((a+b)/2,0) to (a,f(a)),(b,f(b)) and (x,f(x)) where f(x) achieves maximum at x within[a,b]

Returns: the radius of the circumsphere

◆ init()

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

overridevirtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Element.

◆ setHeight()

void MBSim::PolynomialFrustum::setHeight ( const double & height_ )

inline

set height of frustum

Parameters

height height of the frustum

◆ updateEnclosingSphere()

void MBSim::PolynomialFrustum::updateEnclosingSphere ( )

       \brief in 2D plane, given a point outside a polynomial curve, search for the closest point on the curve to the point
       \param x_0: starting point of the polynomial domain
       \param x_end: end point of the polynomial domain
       \param P: the given point
       \return: a dimension 3 vector, vec[0] storing the dis, vec[1] and vec[2] for the 2D position of the closest point on the curve
      &zwj;/

fmatvec::Vec3 CP_toP_onPolycurve2D(double x_0, double x_end, fmatvec::Vec2 P);

  fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override;
  fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override;
  fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override;

protected:
  /*!
     \computes a sphere that totally encloses the frustum

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

/mbsim-env/mbsim/kernel/mbsim/contours/polynomial_frustum.h
/mbsim-env/mbsim/kernel/mbsim/contours/polynomial_frustum.cc

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PolynomialFrustum()

Member Function Documentation

◆ BOOST_PARAMETER_MEMBER_FUNCTION()

◆ evalKn()

◆ evalKrPS()

◆ evalKu()

◆ evalKv()

◆ evalZeta()

◆ getEnclosingSphereRadius()

◆ init()

◆ setHeight()

◆ updateEnclosingSphere()