1s_21_rcm.h

/* Copyright (C) 2004-2015 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_RCM_H_
#define _FLEXIBLE_BODY_1S_21_RCM_H_
 
#include "mbsimFlexibleBody/flexible_body/1s.h"
 
namespace MBSimFlexibleBody {
 
  class Frame1s;
  class NodeFrame;
 
  class FlexibleBody1s21RCM : public FlexibleBody1s {
    public:
      FlexibleBody1s21RCM(const std::string &name, bool openStructure);
 
      /* INHERITED INTERFACE OF FLEXIBLE BODY */
       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 exportPositionVelocity(const std::string& filenamePos, const std::string& filenameVel = std::string( ), const int & deg = 3, const bool &writePsFile = false) override;
       void importPositionVelocity(const std::string& filenamePos, const std::string& filenameVel = std::string( )) 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);
      int getNumberElements(){return Elements;}
      double getLength(){return L;}
      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 r);
      void setMaterialDamping(double d);
      void setLehrDamping(double d);
      void setElementPlotList(const fmatvec::VecInt& plotElements_) {plotElements <<= plotElements_;}
      /***************************************************/
 
      fmatvec::Vec3 getPositions(double x);
 
      fmatvec::Vec3 getVelocities(double x);
 
      double computePhysicalStrain(double sGlobal);
 
      void initRelaxed(double alpha);
 
      void initInfo();
 
    protected:
      void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
 
      int Elements;
 
      double l0;
 
      double E;
 
      double A;
 
      double I;
 
      double rho;
 
      double rc;
 
      double dm;
 
      double dl;
 
      fmatvec::VecInt plotElements;
 
      bool initialized;
  };
 
}
 
#endif /* _FLEXIBLE_BODY_1S_21_RCM_H_ */