Inheritance diagram for MBSim::RigidBodyObserver:

[legend]

Public Member Functions
	RigidBodyObserver (const std::string &name="")

void	setRigidBody (RigidBody *body_)

void	setFrameOfReference (Frame *frameOfReference_)

void	setOutputFrame (Frame *outputFrame_)

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

void	initializeUsingXML (xercesc::DOMElement *element)

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

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVWeight, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
	Visualize the weight.

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVJointForce, tag,(optional(sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction), OpenMBVInteractionArrow::action)(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
	Visualize the joint force.

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVJointMoment, tag,(optional(sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction), OpenMBVInteractionArrow::action)(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
	Visualize the joint moment.

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVAxisOfRotation, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))
	Visualize the center of rotation.

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVMomentum, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVAngularMomentum, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVDerivativeOfMomentum, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBVDerivativeOfAngularMomentum, tag,(optional(scaleLength,(double), 1)(scaleSize,(double), 1)(referencePoint,(OpenMBVArrow::ReferencePoint), OpenMBVArrow::fromPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation), OpenMBVArrow::none)(minimalColorValue,(double), 0)(maximalColorValue,(double), 1)(diffuseColor,(const fmatvec::Vec3 &), fmatvec::Vec3(std::vector< double >{-1, 1, 1}))(transparency,(double), 0)(pointSize,(double), 0)(lineWidth,(double), 0)))

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

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

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

void	createPlotGroup () override
	creates the plotGroup for H5-output More...

int	getisInd ()

int	getisSize ()

virtual void	calcisSize ()

virtual void	aboutToUpdateInternalState ()

virtual void	postprocessing ()

virtual void	setisInd (int isInd_)

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

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
RigidBody *	body

Frame *	frameOfReference

Frame *	outputFrame { nullptr }

std::shared_ptr< OpenMBVInteractionArrow >	ombvForce

std::shared_ptr< OpenMBVInteractionArrow >	ombvMoment

std::shared_ptr< OpenMBVArrow >	ombvWeight

std::shared_ptr< OpenMBVArrow >	ombvAxisOfRotation

std::shared_ptr< OpenMBVArrow >	ombvMomentum

std::shared_ptr< OpenMBVArrow >	ombvAngularMomentum

std::shared_ptr< OpenMBVArrow >	ombvDerivativeOfMomentum

std::shared_ptr< OpenMBVArrow >	ombvDerivativeOfAngularMomentum

std::vector< std::shared_ptr< OpenMBV::Arrow > >	FArrow

std::vector< std::shared_ptr< OpenMBV::Arrow > >	MArrow

std::shared_ptr< OpenMBV::Arrow >	FWeight

std::shared_ptr< OpenMBV::Arrow >	openMBVAxisOfRotation

std::shared_ptr< OpenMBV::Arrow >	openMBVMomentum

std::shared_ptr< OpenMBV::Arrow >	openMBVAngularMomentum

std::shared_ptr< OpenMBV::Arrow >	openMBVDerivativeOfMomentum

std::shared_ptr< OpenMBV::Arrow >	openMBVDerivativeOfAngularMomentum

std::string	saved_body

std::string	saved_frameOfReference

std::string	saved_outputFrame

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::Observer
fmatvec::Vec	curis

fmatvec::Vec	nextis

int	isSize { 0 }

int	isInd { 0 }

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

Member Function Documentation

◆ init()

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

virtual

plots time series header

Parameters

invocing parent class

Reimplemented from MBSim::Observer.

◆ initializeUsingXML()

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

virtual

Reimplemented from MBSim::Element.

◆ plot()

void MBSim::RigidBodyObserver::plot ( )

virtual

plots time dependent data

Parameters

simulation	time
simulation	time step size for derivative calculation

Reimplemented from MBSim::Element.

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

/mbsim-env/mbsim/kernel/mbsim/observers/rigid_body_observer.h
/mbsim-env/mbsim/kernel/mbsim/observers/rigid_body_observer.cc

Public Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ init()

◆ initializeUsingXML()

◆ plot()