mbsimflexiblebody  4.0.0
MBSim Flexible Body Module
Public Member Functions | List of all members
MBSimFlexibleBody::DiscretizationInterface Class Referenceabstract

discretization interface for flexible systems More...

#include <discretization_interface.h>

Inheritance diagram for MBSimFlexibleBody::DiscretizationInterface:
[legend]

Public Member Functions

 DiscretizationInterface ()=default
 constructor
 
virtual ~DiscretizationInterface ()=default
 destructor
 
virtual const fmatvec::SymMat & getM () const =0
 
virtual const fmatvec::Vec & geth () const =0
 
virtual const fmatvec::SqrMat & getdhdq () const =0
 
virtual const fmatvec::SqrMat & getdhdu () const =0
 
virtual int getqSize () const =0
 
virtual int getuSize () const =0
 
virtual void computeM (const fmatvec::Vec &q)=0
 compute mass matrix More...
 
virtual void computeh (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
 compute smooth right hand side More...
 
virtual void computedhdz (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
 compute Jacobian for implicit integration More...
 
virtual double computeKineticEnergy (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
 compute kinetic energy More...
 
virtual double computeGravitationalEnergy (const fmatvec::Vec &q)=0
 compute gravitational energy More...
 
virtual double computeElasticEnergy (const fmatvec::Vec &q)=0
 compute elastic energy More...
 

Detailed Description

discretization interface for flexible systems

Author
Thorsten Schindler
Roland Zander
Date
2009-03-09 initial commit in kernel_dev (Thorsten Schindler)
2009-07-23 own file / split updateM and updateh (Thorsten Schindler)

interface for the desription of flexible systems using global and FE ansatz functions

Member Function Documentation

◆ computedhdz()

virtual void MBSimFlexibleBody::DiscretizationInterface::computedhdz ( const fmatvec::Vec &  q,
const fmatvec::Vec &  u 
)
pure virtual

compute Jacobian for implicit integration

Parameters
generalisedpositions
generalisedvelocities

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ computeElasticEnergy()

virtual double MBSimFlexibleBody::DiscretizationInterface::computeElasticEnergy ( const fmatvec::Vec &  q)
pure virtual

compute elastic energy

Parameters
generalisedpositions

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ computeGravitationalEnergy()

virtual double MBSimFlexibleBody::DiscretizationInterface::computeGravitationalEnergy ( const fmatvec::Vec &  q)
pure virtual

compute gravitational energy

Parameters
generalisedpositions

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ computeh()

virtual void MBSimFlexibleBody::DiscretizationInterface::computeh ( const fmatvec::Vec &  q,
const fmatvec::Vec &  u 
)
pure virtual

compute smooth right hand side

Parameters
generalisedpositions
generalisedvelocities

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ computeKineticEnergy()

virtual double MBSimFlexibleBody::DiscretizationInterface::computeKineticEnergy ( const fmatvec::Vec &  q,
const fmatvec::Vec &  u 
)
pure virtual

compute kinetic energy

Parameters
generalisedpositions
generalisedvelocities

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ computeM()

virtual void MBSimFlexibleBody::DiscretizationInterface::computeM ( const fmatvec::Vec &  q)
pure virtual

compute mass matrix

Parameters
generalisedpositions

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ getdhdq()

virtual const fmatvec::SqrMat & MBSimFlexibleBody::DiscretizationInterface::getdhdq ( ) const
pure virtual
Returns
Jacobian of implicit integration regarding position

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ getdhdu()

virtual const fmatvec::SqrMat & MBSimFlexibleBody::DiscretizationInterface::getdhdu ( ) const
pure virtual
Returns
Jacobian of implicit integration regarding velocity

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ geth()

virtual const fmatvec::Vec & MBSimFlexibleBody::DiscretizationInterface::geth ( ) const
pure virtual
Returns
smooth right hand side of discretization

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ getM()

virtual const fmatvec::SymMat & MBSimFlexibleBody::DiscretizationInterface::getM ( ) const
pure virtual
Returns
mass matrix of discretization

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ getqSize()

virtual int MBSimFlexibleBody::DiscretizationInterface::getqSize ( ) const
pure virtual
Returns
dimension of positions

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

◆ getuSize()

virtual int MBSimFlexibleBody::DiscretizationInterface::getuSize ( ) const
pure virtual
Returns
dimension of velocities

Implemented in MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE, MBSimFlexibleBody::SuperElementLinearExternal, MBSimFlexibleBody::FiniteElement1s21ANCF, MBSimFlexibleBody::FiniteElement1s21CosseratRotation, MBSimFlexibleBody::FiniteElement1s21CosseratTranslation, MBSimFlexibleBody::FiniteElement1s21RCM, MBSimFlexibleBody::FiniteElement1s23BTA, MBSimFlexibleBody::FiniteElement1s33ANCF, MBSimFlexibleBody::FiniteElement1s33CosseratRotation, MBSimFlexibleBody::FiniteElement1s33CosseratTranslation, MBSimFlexibleBody::FiniteElement1s33RCM, MBSimFlexibleBody::FiniteElement2s13Disk, MBSimFlexibleBody::FiniteElement2s13MFRMindlin, and MBSimFlexibleBody::FiniteElementLinearExternalLumpedNode.

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