finite element for spatial beam using Redundant Coordinate Method (RCM) More...

#include <1s_33_rcm.h>

Inheritance diagram for MBSimFlexibleBody::FiniteElement1s33RCM:

Public Member Functions
	FiniteElement1s33RCM (double l0_, double rho_, double A_, double E_, double G_, double I1_, double I2_, double I0_, const fmatvec::Vec &g_, RevCardanPtr ag_)
	constructor More...

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 &qG, const fmatvec::Vec &qGt) override
	compute kinetic energy More...

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

double	computeElasticEnergy (const fmatvec::Vec &qG) 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	computeJacobianOfMotion (const fmatvec::Vec &qG, double s)

void	setGauss (int nGauss)

void	setCurlRadius (double R1, double R2)

void	setMaterialDamping (double epstD_, double k0D_)

void	setLehrDamping (double epstL, double k0L)

double	getl0 () const

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	computeJXqG (const fmatvec::Vec &qG, double x)
	compute JACOBIAN of contact description in global coordinates More...

fmatvec::Vec	computeData (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
	compute interesting data More...

double	computePhysicalStrain (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
	compute the physical strain as defined in Schindler2010, p. 25, eq. (2.52) 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 Member Functions
void	computedrS ()
	compute delta matrix for CP with respect to translation

void	computedepstil ()
	compute delta matrix for elongation

void	computedk0 ()
	compute delta matrix for torsion

Private Attributes
double	l0
	length of finite element

double	rho
	density

double	A
	cross sectional area

double	E
	Young's modulus.

double	G
	shear modulus

double	I1
	geometrical moment of inertia

double	I2

double	I0

fmatvec::Vec	g
	gravitation

double	k10
	predefined bending

double	k20

double	epstD
	prolongational and torsional damping

double	k0D

fmatvec::SymMat	M
	global system description

fmatvec::Vec	h

fmatvec::SqrMat	dhdq
	matrices for implicit integration

fmatvec::SqrMat	dhdu

fmatvec::SymMat	MI
	internal system description

fmatvec::SqrMat	Damp
	internal damping matrix

double	l0h2
	beam length powers

double	l0h3

double	x_Old
	last Lagrangian coordinate in state calculation

fmatvec::Vec	qG_Old
	global and local state of the last time step

fmatvec::Vec	qGt_Old

double	tol_comp
	tolerance for comparison of state with old state

fmatvec::Mat	drS
	delta matrices

fmatvec::Mat	drSH

fmatvec::RowVec	depstil

fmatvec::RowVec	dk0

RevCardanPtr	ag
	reversed Cardan-object

Trafo33RCMPtr	tf
	trafo-object

Weight33RCMPtr	wt
	weight-function-object

Detailed Description

finite element for spatial beam using Redundant Coordinate Method (RCM)

Author: Thorsten Schindler

Date: 2009-04-17 initial commit kernel_dev (Thorsten Schindler); 2009-07-27 implicit integration (Thorsten Schindler)

Todo:

transform computeState to Position / Velocity / Orientation / AngularVelocity

JacobianOfMotion

computeM

Constructor & Destructor Documentation

◆ FiniteElement1s33RCM()

MBSimFlexibleBody::FiniteElement1s33RCM::FiniteElement1s33RCM	(	double	l0_,
		double	rho_,
		double	A_,
		double	E_,
		double	G_,
		double	I1_,
		double	I2_,
		double	I0_,
		const fmatvec::Vec &	g_,
		RevCardanPtr	ag_
	)

constructor

Parameters

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

Member Function Documentation

◆ computeData()

Vec MBSimFlexibleBody::FiniteElement1s33RCM::computeData	(	const fmatvec::Vec &	qG,
		const fmatvec::Vec &	qGt
	)

compute interesting data

Parameters

global	coordinates
global	velocities

◆ computedhdz()

void MBSimFlexibleBody::FiniteElement1s33RCM::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::FiniteElement1s33RCM::computeElasticEnergy ( const fmatvec::Vec & q )

overridevirtual

compute elastic energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeGravitationalEnergy()

double MBSimFlexibleBody::FiniteElement1s33RCM::computeGravitationalEnergy ( const fmatvec::Vec & q )

overridevirtual

compute gravitational energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeh()

void MBSimFlexibleBody::FiniteElement1s33RCM::computeh	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

overridevirtual

compute smooth right hand side

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeJXqG()

Mat MBSimFlexibleBody::FiniteElement1s33RCM::computeJXqG	(	const fmatvec::Vec &	qG,
		double	x
	)

compute JACOBIAN of contact description in global coordinates

Parameters

global	coordinates
LAGRANGIAN	parameter

◆ computeKineticEnergy()

double MBSimFlexibleBody::FiniteElement1s33RCM::computeKineticEnergy	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

overridevirtual

compute kinetic energy

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeM()

void MBSimFlexibleBody::FiniteElement1s33RCM::computeM ( const fmatvec::Vec & q )

overridevirtual

compute mass matrix

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computePhysicalStrain()

double MBSimFlexibleBody::FiniteElement1s33RCM::computePhysicalStrain	(	const fmatvec::Vec &	qG,
		const fmatvec::Vec &	qGt
	)

compute the physical strain as defined in Schindler2010, p. 25, eq. (2.52)

Parameters

global	coordinates
global	velocities

◆ getdhdq()

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s33RCM::getdhdq ( ) const

inlineoverridevirtual

Returns: Jacobian of implicit integration regarding position

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdu()

const fmatvec::SqrMat & MBSimFlexibleBody::FiniteElement1s33RCM::getdhdu ( ) const

inlineoverridevirtual

Returns: Jacobian of implicit integration regarding velocity

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ geth()

const fmatvec::Vec & MBSimFlexibleBody::FiniteElement1s33RCM::geth ( ) const

inlineoverridevirtual

Returns: smooth right hand side of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getM()

const fmatvec::SymMat & MBSimFlexibleBody::FiniteElement1s33RCM::getM ( ) const

inlineoverridevirtual

Returns: mass matrix of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getqSize()

int MBSimFlexibleBody::FiniteElement1s33RCM::getqSize ( ) const

inlineoverridevirtual

Returns: dimension of positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getuSize()

int MBSimFlexibleBody::FiniteElement1s33RCM::getuSize ( ) const

inlineoverridevirtual

Returns: dimension of velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm.cc

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FiniteElement1s33RCM()

Member Function Documentation

◆ computeData()

◆ computedhdz()

◆ computeElasticEnergy()

◆ computeGravitationalEnergy()

◆ computeh()

◆ computeJXqG()

◆ computeKineticEnergy()

◆ computeM()

◆ computePhysicalStrain()

◆ getdhdq()

◆ getdhdu()

◆ geth()

◆ getM()

◆ getqSize()

◆ getuSize()