finite element for bending torsional axis More...

#include <1s_23_bta.h>

Inheritance diagram for MBSimFlexibleBody::FiniteElement1s23BTA:

Public Member Functions
	FiniteElement1s23BTA (double l0, double Arho, double EIyy, double EIzz, double Itrho, double GIt, const fmatvec::Vec &g)
	constructor More...

	~FiniteElement1s23BTA () override=default
	destructor

const fmatvec::SymMat &	getM () const override

const fmatvec::Vec &	geth () const override

const fmatvec::SqrMat &	getdhdq () const override

const fmatvec::SqrMat &	getdhdu () const override

int	getqSize () const override

int	getuSize () const override

void	computeM (const fmatvec::Vec &qG) override
	compute mass matrix More...

void	computeh (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) override
	compute smooth right hand side More...

void	computedhdz (const fmatvec::Vec &qG, const fmatvec::Vec &qGt) override
	compute Jacobian for implicit integration More...

double	computeKineticEnergy (const fmatvec::Vec &q, const fmatvec::Vec &u) override
	compute kinetic energy More...

double	computeGravitationalEnergy (const fmatvec::Vec &q) override
	compute gravitational energy More...

double	computeElasticEnergy (const fmatvec::Vec &q) override
	compute elastic energy More...

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	getJacobianOfMotion (const fmatvec::Vec &qElement, double s)

void	setMaterialDamping (double)

void	setLehrDamping (double)

void	setTorsionalDamping (double dTorsional_)

fmatvec::Vec3	getTangent (const fmatvec::Vec &q, double s)
	compute tangent More...

fmatvec::Vector< fmatvec::Fixed< 6 >, double >	getPositions (const fmatvec::Vec &qElement, double s)

fmatvec::Vector< fmatvec::Fixed< 6 >, double >	getVelocities (const fmatvec::Vec &qElement, const fmatvec::Vec &qpElement, double s)

fmatvec::Mat	JGeneralized (const fmatvec::Vec &q, double s)
	compute global state More...

Public Member Functions inherited from MBSimFlexibleBody::DiscretizationInterface
	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...

Private Attributes
double	l0
	length of finite element

double	Arho
	cross sectional area multiplied with density

double	EIyy
	Young's modulus multiplied with geometrical moment of inertia.

double	EIzz

double	Itrho
	geometrical moment of inertia multiplied with density

double	GIt
	shear modulus multiplied with geometrical moment of inertia

fmatvec::Vec	g
	gravitation

double	depsilon
	prolongational and torsional damping

double	dTorsional

fmatvec::SymMat	M
	global system description

fmatvec::Vec	h

fmatvec::SqrMat	Dhq
	matrices for implicit integration

fmatvec::SqrMat	Dhqp

fmatvec::SqrMat	Damp
	internal damping matrix

double	l0h2
	beam length powers

double	l0h3

Detailed Description

finite element for bending torsional axis

Author: Roland Zander; Thorsten Schindler

Date: 2009-11-22 initial commit kernel_dev

Todo:

implicit integration analytically TODO

tangent, awk necessary? TODO

Constructor & Destructor Documentation

◆ FiniteElement1s23BTA()

MBSimFlexibleBody::FiniteElement1s23BTA::FiniteElement1s23BTA	(	double	l0,
		double	Arho,
		double	EIyy,
		double	EIzz,
		double	Itrho,
		double	GIt,
		const fmatvec::Vec &	g
	)

constructor

Parameters

length	of finite element
cross-sectional	area multiplied with density
Young's	modulus multiplied with first area moment of inertia
Young's	modulus multiplied with second area moment of inertia
torsional	moment of inertia multiplied with density
shear	modulus multiplied with torsional moment of inertia
acceleration	of gravity

Member Function Documentation

◆ computedhdz()

void MBSimFlexibleBody::FiniteElement1s23BTA::computedhdz	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

overridevirtual

compute Jacobian for implicit integration

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeElasticEnergy()

double MBSimFlexibleBody::FiniteElement1s23BTA::computeElasticEnergy ( const fmatvec::Vec & q )

overridevirtual

compute elastic energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeGravitationalEnergy()

double MBSimFlexibleBody::FiniteElement1s23BTA::computeGravitationalEnergy ( const fmatvec::Vec & q )

overridevirtual

compute gravitational energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeh()

void MBSimFlexibleBody::FiniteElement1s23BTA::computeh	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

overridevirtual

compute smooth right hand side

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeKineticEnergy()

double MBSimFlexibleBody::FiniteElement1s23BTA::computeKineticEnergy	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

overridevirtual

compute kinetic energy

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeM()

void MBSimFlexibleBody::FiniteElement1s23BTA::computeM ( const fmatvec::Vec & q )

overridevirtual

compute mass matrix

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdq()

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s23BTA::getdhdq ( ) const

inlineoverridevirtual

Returns: Jacobian of implicit integration regarding position

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdu()

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s23BTA::getdhdu ( ) const

inlineoverridevirtual

Returns: Jacobian of implicit integration regarding velocity

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ geth()

const fmatvec::Vec & MBSimFlexibleBody::FiniteElement1s23BTA::geth ( ) const

inlineoverridevirtual

Returns: smooth right hand side of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getM()

const fmatvec::SymMat & MBSimFlexibleBody::FiniteElement1s23BTA::getM ( ) const

inlineoverridevirtual

Returns: mass matrix of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getqSize()

int MBSimFlexibleBody::FiniteElement1s23BTA::getqSize ( ) const

inlineoverridevirtual

Returns: dimension of positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getTangent()

Vec3 MBSimFlexibleBody::FiniteElement1s23BTA::getTangent	(	const fmatvec::Vec &	q,
		double	s
	)

compute tangent

Parameters

global	coordinates
LAGRANGIAN	parameter

◆ getuSize()

int MBSimFlexibleBody::FiniteElement1s23BTA::getuSize ( ) const

inlineoverridevirtual

Returns: dimension of velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ JGeneralized()

Mat MBSimFlexibleBody::FiniteElement1s23BTA::JGeneralized	(	const fmatvec::Vec &	q,
		double	s
	)

compute global state

       \brief compute accompanying trihedral
       \param global coordinates
       \param LAGRANGIAN parameter
      &zwj;/

fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& q, double s);

/*!

Parameters

global	coordinates
global	velocities
LAGRANGIAN	parameter

Returns

x,y,z,alpha,2x bending angle and velocities ‍/ fmatvec::Vec StateAxis(const fmatvec::Vec& q, const fmatvec::Vec& v, double s);

  /**
     \brief compute JACOBIAN of contact description
     \param global coordinates
     \param LAGRANGIAN parameter
     \return JACOBIAN without x-direction

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_23_bta.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_23_bta.cc

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FiniteElement1s23BTA()

Member Function Documentation

◆ computedhdz()

◆ computeElasticEnergy()

◆ computeGravitationalEnergy()

◆ computeh()

◆ computeKineticEnergy()

◆ computeM()

◆ getdhdq()

◆ getdhdu()

◆ geth()

◆ getM()

◆ getqSize()

◆ getTangent()

◆ getuSize()

◆ JGeneralized()