node class for angle parametrisation More...

#include <angles.h>

Inheritance diagram for MBSimFlexibleBody::Angles:

Public Member Functions
	Angles ()
	constructor

	~Angles () override
	destructor

fmatvec::RotMat3	operator() (const fmatvec::VecV &q, const double &t) override

virtual fmatvec::Vec3	computet (const fmatvec::Vec &q) const =0

virtual fmatvec::Vec3	computen (const fmatvec::Vec &q) const =0

virtual fmatvec::Vec3	computeb (const fmatvec::Vec &q) const =0

virtual fmatvec::Vec	computentil (const fmatvec::Vec &q) const =0

virtual fmatvec::Vec	computebtil (const fmatvec::Vec &q) const =0

virtual fmatvec::SqrMat	computetq (const fmatvec::Vec &q) const =0

virtual fmatvec::SqrMat	computenq (const fmatvec::Vec &q) const =0

virtual fmatvec::SqrMat	computebq (const fmatvec::Vec &q) const =0

virtual fmatvec::SqrMat	computentilq (const fmatvec::Vec &q) const =0

virtual fmatvec::SqrMat	computebtilq (const fmatvec::Vec &q) const =0

virtual fmatvec::Mat	computetq2 (const fmatvec::Vec &q) const =0

virtual fmatvec::Mat	computenq2 (const fmatvec::Vec &q) const =0

virtual fmatvec::Mat	computebq2 (const fmatvec::Vec &q) const =0

virtual fmatvec::Mat	computentilq2 (const fmatvec::Vec &q) const =0

virtual fmatvec::Mat	computebtilq2 (const fmatvec::Vec &q) const =0

fmatvec::Vec	computett (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::Vec	computent (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::Vec	computebt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::Vec	computentilt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::Vec	computebtilt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::SqrMat	computetqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::SqrMat	computenqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::SqrMat	computebqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::SqrMat	computentilqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

fmatvec::SqrMat	computebtilqt (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

virtual fmatvec::Vec	computeOmega (const fmatvec::Vec &q, const fmatvec::Vec &qt) const

virtual fmatvec::SqrMat	computeT (const fmatvec::Vec &q) const

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

virtual void	setDynamicSystemSolver (DynamicSystemSolver *sys)

virtual void	plot ()

virtual void	plotAtSpecialEvent ()

const std::string &	getName () const

void	setName (const std::string &str)

DynamicSystemSolver *	getDynamicSystemSolver ()

virtual void	init (InitStage stage, const InitConfigSet &config=InitConfigSet())

virtual void	createPlotGroup ()

H5::GroupBase *	getPlotGroup ()

bool	getPlotFeature (const PlotFeatureEnum &pf)

virtual void	setPlotFeature (const PlotFeatureEnum &pf, bool value)

void	setPlotFeatureForChildren (const PlotFeatureEnum &pf, bool value)

void	setPlotFeatureRecursive (const PlotFeatureEnum &pf, bool value)

void	setPlotAttribute (const std::string &name, const T &value, PlotAttributeStorage storage=PlotAttributeStorage::attribute)

T *	getByPath (const std::string &path, bool initialCaller=true) const

std::string	getPath (const Element *relTo=nullptr, std::string sep="/") const

virtual Element *	getChildByContainerAndName (const std::string &container, const std::string &name) const

std::vector< Element * >	getDependencies () const

int	computeLevel ()

Additional Inherited Members
Public Types inherited from MBSim::Element
enum	InitStage

Public Attributes inherited from MBSim::Element
	resolveStringRef

	preInit

	plotting

	unknownStage

Protected Attributes inherited from MBSim::Element
std::string	name

std::string	path

MBXMLUtils::DOMEvalException	domEvalError

DynamicSystemSolver *	ds

H5::VectorSerie< double > *	plotVectorSerie

std::vector< double >	plotVector

std::vector< std::string >	plotColumns

H5::GroupBase *	plotGroup

std::vector< Element * >	dependency

PlotFeatureMap	plotFeature

Detailed Description

node class for angle parametrisation

Author: Thorsten Schindler

Date: 2009-04-24 initial commit (Thorsten Schindler); 2010-05-23 update according to change in Rotation (Martin Foerg); 2012-03-20 added T matrix (Schindler / Cebulla)

Todo:: unify with Rotation TODO

Member Function Documentation

◆ computeb()

virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computeb ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: binormal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebq()

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computebq ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: derivative of binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebq2()

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computebq2 ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: 2nd derivative of binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebqt()

SqrMat MBSimFlexibleBody::Angles::computebqt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of bq

◆ computebt()

Vec MBSimFlexibleBody::Angles::computebt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of binormal

◆ computebtil()

virtual fmatvec::Vec MBSimFlexibleBody::Angles::computebtil ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: tilde binormal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebtilq()

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computebtilq ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: derivative of tilde binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebtilq2()

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computebtilq2 ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: 2nd derivative of tilde binormal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computebtilqt()

SqrMat MBSimFlexibleBody::Angles::computebtilqt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of btilq

◆ computebtilt()

Vec MBSimFlexibleBody::Angles::computebtilt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of tilde binormal

◆ computen()

virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computen ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: normal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computenq()

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computenq ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: derivative of normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computenq2()

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computenq2 ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: 2nd derivative of normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computenqt()

SqrMat MBSimFlexibleBody::Angles::computenqt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of nq

◆ computent()

Vec MBSimFlexibleBody::Angles::computent	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of normal

◆ computentil()

virtual fmatvec::Vec MBSimFlexibleBody::Angles::computentil ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: tilde normal

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computentilq()

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computentilq ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: derivative of tilde normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computentilq2()

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computentilq2 ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: 2nd derivative of tilde normal with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computentilqt()

SqrMat MBSimFlexibleBody::Angles::computentilqt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of ntilq

◆ computentilt()

Vec MBSimFlexibleBody::Angles::computentilt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of tilde normal

◆ computeOmega()

Vec MBSimFlexibleBody::Angles::computeOmega	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

virtual

Parameters

angles
derivative	of angles

Returns: angular velocity

Reimplemented in MBSimFlexibleBody::Cardan.

◆ computeT()

SqrMat MBSimFlexibleBody::Angles::computeT ( const fmatvec::Vec & q ) const

virtual

Parameters

angles

Returns: T-matrix (transformation matrix from differentiated angles to angular velocity omega)

Reimplemented in MBSimFlexibleBody::Cardan.

◆ computet()

virtual fmatvec::Vec3 MBSimFlexibleBody::Angles::computet ( const fmatvec::Vec & q ) const

pure virtual

Returns: tangent

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computetq()

virtual fmatvec::SqrMat MBSimFlexibleBody::Angles::computetq ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: derivative of tangent with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computetq2()

virtual fmatvec::Mat MBSimFlexibleBody::Angles::computetq2 ( const fmatvec::Vec & q ) const

pure virtual

Parameters

angles

Returns: 2nd derivative of tangent with respect to angles

Implemented in MBSimFlexibleBody::Cardan, and MBSimFlexibleBody::RevCardan.

◆ computetqt()

SqrMat MBSimFlexibleBody::Angles::computetqt	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of tq

◆ computett()

Vec MBSimFlexibleBody::Angles::computett	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	qt
	)		const

Parameters

angles
derivative	of angles

Returns: time derivative of tangent

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/utils/angles.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/utils/angles.cc

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeb()

◆ computebq()

◆ computebq2()

◆ computebqt()

◆ computebt()

◆ computebtil()

◆ computebtilq()

◆ computebtilq2()

◆ computebtilqt()

◆ computebtilt()

◆ computen()

◆ computenq()

◆ computenq2()

◆ computenqt()

◆ computent()

◆ computentil()

◆ computentilq()

◆ computentilq2()

◆ computentilqt()

◆ computentilt()

◆ computeOmega()

◆ computeT()

◆ computet()

◆ computetq()

◆ computetq2()

◆ computetqt()

◆ computett()