1s_33_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_33_RCM_H_
#define _FLEXIBLE_BODY_1S_33_RCM_H_
 
#include "mbsimFlexibleBody/flexible_body/1s.h"
#include "mbsimFlexibleBody/pointer.h"
 
namespace MBSimFlexibleBody {
 
  class NodeFrame;
 
  class FlexibleBody1s33RCM : public FlexibleBody1s {
    public:
      FlexibleBody1s33RCM(const std::string &name="",bool openStructure=false);
 
      /* 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);
 
       fmatvec::Vec3 getAngles(double s) override;
      /***************************************************/
 
      /* INHERITED INTERFACE OF OBJECT */
       void init(InitStage stage, const MBSim::InitConfigSet &config) override;
      /***************************************************/
 
      /* INHERITED INTERFACE OF ELEMENT */
      void initializeUsingXML(xercesc::DOMElement * element) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setNumberElements(int n);
      int getNumberElements(){ return Elements; }
      void setEGModuls(double E_, double G_) { E = E_; G = G_; }
      void setDensity(double rho_) { rho = rho_; }
      void setCrossSectionalArea(double A_) { A = A_; }
      void setMomentsInertia(double I1_, double I2_, double I0_) { I1 = I1_; I2 = I2_; I0 = I0_; }
      void setMaterialDamping(double epstD_,double k0D_);
 
      void setGauss(int nGauss_) { nGauss = nGauss_; }
      void setCurlRadius(double R1_, double R2_);
      void setLehrDamping(double epstL_, double k0L_);
      /***************************************************/
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getPositions(double x);
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getVelocities(double x);
 
      double computePhysicalStrain(const double sGlobal);
 
      void initInfo();
 
    private:
      RevCardanPtr angle;
 
      int Elements;
 
      double l0;
 
      double E, G;
 
      double A;
 
      double I1, I2, I0;
 
      double rho;
 
      double R1, R2;
 
      double epstD, k0D, epstL, k0L;
 
      bool initialised;
 
      int nGauss;
 
      void BuildElement(const double& sGlobal, double& sLocal, int& currentElement);
  };
 
}
 
#endif /* _FLEXIBLE_BODY_1S_33_RCM_H_ */