1s_21_ancf.h

/* Copyright (C) 2004-2014 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: thorsten.schindler@mytum.de
 */
 
#ifndef _FLEXIBLE_BODY_1S_21_ANCF_H_
#define _FLEXIBLE_BODY_1S_21_ANCF_H_
 
#include "mbsimFlexibleBody/flexible_body/1s.h"
 
namespace MBSimFlexibleBody {
 
  class NodeFrame;
 
  class FlexibleBody1s21ANCF : public FlexibleBody1s {
 
    public:
      FlexibleBody1s21ANCF(const std::string &name, bool openStructure);
 
      /* INHERITED INTERFACE OF FLEXIBLE BODY */
       void updateM() override { }
       void updateLLM() override { }
 
       void BuildElements() override;
 
       void GlobalVectorContribution(int n, const fmatvec::Vec& locVec, fmatvec::Vec& gloVec) override;
       void GlobalMatrixContribution(int n, const fmatvec::Mat& locMat, fmatvec::Mat& gloMat) override;
       void GlobalMatrixContribution(int n, const fmatvec::SymMat& locMat, fmatvec::SymMat& gloMat) override;
 
       void updatePositions(Frame1s* frame) override;
       void updateVelocities(Frame1s* frame) override;
       void updateAccelerations(Frame1s* frame) override;
       void updateJacobians(Frame1s* frame, int j=0) override;
       void updateGyroscopicAccelerations(Frame1s* frame) override;
 
      virtual void updatePositions(NodeFrame* frame);
      virtual void updateVelocities(NodeFrame* frame);
      virtual void updateAccelerations(NodeFrame* frame);
      virtual void updateJacobians(NodeFrame* frame, int j=0);
      virtual void updateGyroscopicAccelerations(NodeFrame* frame);
      /****************************************/
 
      /* INHERITED INTERFACE OF OBJECT */
       void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      /***************************************************/
 
      /* INHERITED INTERFACE OF ELEMENT */
       void plot() override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setNumberElements(int n);
      void setEModul(double E_) { E = E_; }
      void setCrossSectionalArea(double A_) { A = A_; }
      void setMomentInertia(double I_) { I = I_; }
      void setDensity(double rho_) { rho = rho_; }
      void setCurlRadius(double rc_);
      void setMaterialDamping(double deps_, double dkappa_);
      void setEulerPerspective(bool Euler_, double v0_);
      int getNumberElements(){ return Elements; }
      /***************************************************/
 
      void initInfo();
 
      void initRelaxed(double alpha);
 
    private:
      int Elements;
 
      double l0;
 
      double E;
 
      double A;
 
      double I;
 
      double rho;
 
      double rc;
 
      double deps;
 
      double dkappa;
 
      bool initialised;
 
      double v0;
 
      bool Euler;
 
      void initM();
 
      void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
 
      fmatvec::Vec3 X;
      double sOld;
  };
 
}
 
#endif /* _FLEXIBLE_BODY_1S_21_ANCF_H_ */