1s_33_cosserat_rotation.h

/* Copyright (C) 2004-2012 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 _FINITE_ELEMENT_1S_33_COSSERAT_ROTATION_H_
#define _FINITE_ELEMENT_1S_33_COSSERAT_ROTATION_H_
 
#include "mbsimFlexibleBody/discretization_interface.h"
#include "mbsimFlexibleBody/pointer.h"
#include "fmatvec/fmatvec.h"
 
namespace MBSimFlexibleBody {
 
  class FiniteElement1s33CosseratRotation : public DiscretizationInterface {
    public:
 
      FiniteElement1s33CosseratRotation(double l0_,double E_,double G_,double I1_,double I2_,double I0_,CardanPtr ag_);
 
       ~FiniteElement1s33CosseratRotation() override;       
 
      /* INHERITED INTERFACE OF DISCRETIZATIONINTERFACE */ 
       const fmatvec::SymMat& getM() const override;        
       const fmatvec::Vec& geth() const override { return h; }
       const fmatvec::SqrMat& getdhdq() const override { return dhdq; }
       const fmatvec::SqrMat& getdhdu() const override { return dhdu; }
       int getqSize() const override { return 9; }
       int getuSize() const override { return 9; }
 
       void computeM(const fmatvec::Vec& qG) override;
       void computeh(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       void computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       double computeKineticEnergy(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
       double computeGravitationalEnergy(const fmatvec::Vec& qG) override;
       double computeElasticEnergy(const fmatvec::Vec& qG) override;
 
      virtual fmatvec::Vec3 getPosition(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::Vec3 getVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Vec3 getAngularVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Mat computeJacobianOfMotion(const fmatvec::Vec& qG, double s) { return computeJXqG(qG,s); }
 
      /* GETTER / SETTER */
      void setCurlRadius(double R1,double R2);      
      double getl0() const { return l0; }
 
      fmatvec::Mat computeJXqG(const fmatvec::Vec& qG,double x);
 
    private:
      double l0;
 
      double E;
 
      double G;
 
      double I1, I2, I0;
 
      double k10, k20;
 
      fmatvec::Vec h;
 
      fmatvec::Vec X;
 
      fmatvec::SqrMat dhdq, dhdu;
 
      CardanPtr ag;
 
      FiniteElement1s33CosseratRotation(); // standard constructor
      FiniteElement1s33CosseratRotation(const FiniteElement1s33CosseratRotation&); // copy constructor
      FiniteElement1s33CosseratRotation& operator=(const FiniteElement1s33CosseratRotation&); // assignment operator
  };
 
}
 
#endif /* _FINITE_ELEMENT_1S_33_COSSERAT_ROTATION_H_ */