upmost class for flexible body implementation More...

#include <flexible_body.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody:

Public Member Functions
	FlexibleBody (const std::string &name)
	constructor More...

	~FlexibleBody () override
	destructor

void	updateqd () override

void	updateh (int k=0) override

void	updateM () override

void	updatedhdz () override

void	initializeUsingXML (xercesc::DOMElement *element) override

void	init (InitStage stage, const MBSim::InitConfigSet &config) override

virtual double	computeKineticEnergy ()

virtual double	computePotentialEnergy ()

void	setFrameOfReference (MBSim::Frame *frame) override

virtual void	setq0 (const fmatvec::Vec &q0_)

virtual void	setu0 (const fmatvec::Vec &u0_)

virtual void	BuildElements ()=0
	references finite element coordinates to assembled coordinates More...

const fmatvec::Vec &	getqElement (int i)

const fmatvec::Vec &	getuElement (int i)

virtual fmatvec::Vec3	getAngles (int i)

virtual fmatvec::Vec3	getDerivativeOfAngles (int i)

virtual void	GlobalVectorContribution (int CurrentElement, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)=0
	insert 'local' information in global vectors More...

virtual void	GlobalMatrixContribution (int CurrentElement, const fmatvec::Mat &locMat, fmatvec::Mat &gloMat)=0
	insert 'local' information in global matrices More...

virtual void	GlobalMatrixContribution (int CurrentElement, const fmatvec::SymMat &locMat, fmatvec::SymMat &gloMat)=0
	insert 'local' information in global matrices More...

void	setMassProportionalDamping (const double d_)
	Jacobians and gyroscopes for contour or external frame are set by implementation class. More...

void	addFrame (MBSim::ContourFrame *frame)

void	addFrame (MBSim::FixedRelativeFrame *frame)

void	addContour (MBSim::Contour *contour) override

virtual void	exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false)
	interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file More...

virtual void	importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string())
	imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve More...

void	resetUpToDate () override

void	addFrame (NodeBasedFrame *frame)

Public Member Functions inherited from MBSimFlexibleBody::NodeBasedBody
	NodeBasedBody (const std::string &name)

void	resetUpToDate () override

virtual void	updatePositions (int i)

virtual void	updateVelocities (int i)

virtual void	updateAccelerations (int i)

virtual void	updateJacobians (int i, int j=0)

virtual void	updateGyroscopicAccelerations (int i)

virtual void	updateStresses (int i)

const fmatvec::Vec3 &	evalNodalPosition (int i)

const fmatvec::Vec3 &	evalNodalVelocity (int i)

const fmatvec::Vec3 &	evalNodalAcceleration (int i)

const fmatvec::Mat3xV &	evalNodalJacobianOfTranslation (int i, int j=0)

const fmatvec::Vec3 &	evalNodalGyroscopicAccelerationOfTranslation (int i)

const fmatvec::Vec3 &	evalNodalDisplacement (int i)

const fmatvec::Vector< fmatvec::Fixed< 6 >, double > &	evalNodalStress (int i)

fmatvec::SqrMat3 &	getNodalOrientation (int i, bool check=true)

fmatvec::Vec3 &	getNodalAngularVelocity (int i, bool check=true)

fmatvec::Vec3 &	getNodalAngularAcceleration (int i, bool check=true)

fmatvec::Mat3xV &	getNodalJacobianOfRotation (int i, int j=0, bool check=true)

fmatvec::Vec3 &	getNodalGyroscopicAccelerationOfRotation (int i, bool check=true)

void	addFrame (NodeBasedFrame *frame)

void	init (InitStage stage, const MBSim::InitConfigSet &config) override

int	getNumberOfNodes ()

int	getNodeIndex (int nodeNumber) const

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

void	plot () override

void	setDynamicSystemSolver (DynamicSystemSolver *sys) override

void	init (InitStage stage, const InitConfigSet &config) override

void	createPlotGroup () override

virtual Contour *	getContour (const std::string &name, bool check=true) const

virtual Frame *	getFrame (const std::string &name, bool check=true) const

virtual Frame *	getFrameOfReference ()

virtual const Frame *	getFrameOfReference () const

virtual void	setFrameOfReference (Frame *frame)

int	frameIndex (const Frame *frame_) const

int	contourIndex (const Contour *contour_) const

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

virtual void	addFrame (Frame *frame)

virtual void	addContour (Contour *contour)

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

void	plot () override

virtual void	updateqRef (fmatvec::Vec &qRef)

virtual void	updateqdRef (fmatvec::Vec &qdRef)

virtual void	updatedqRef (fmatvec::Vec &dqRef)

virtual void	updateuRef (fmatvec::Vec &uRef)

virtual void	updateuallRef (fmatvec::Vec &uallRef)

virtual void	updateudRef (fmatvec::Vec &udRef)

virtual void	updateduRef (fmatvec::Vec &duRef)

virtual void	updateudallRef (fmatvec::Vec &udallRef)

virtual void	updatehRef (fmatvec::Vec &hRef, int i=0)

virtual void	updatedhdqRef (fmatvec::Mat &dhdqRef, int i=0)

virtual void	updatedhduRef (fmatvec::SqrMat &dhduRef, int i=0)

virtual void	updatedhdtRef (fmatvec::Vec &dhdtRef, int i=0)

virtual void	updaterRef (fmatvec::Vec &ref, int i=0)

virtual void	updaterdtRef (fmatvec::Vec &ref)

virtual void	updateTRef (fmatvec::Mat &ref)

virtual void	updateMRef (fmatvec::SymMat &ref)

virtual void	updateLLMRef (fmatvec::SymMat &ref)

void	init (InitStage stage, const InitConfigSet &config) override

virtual void	initz ()

virtual void	writez (H5::GroupBase *group)

virtual void	readz0 (H5::GroupBase *group)

virtual void	updateLLM ()

virtual void	setUpInverseKinetics ()

void	createPlotGroup () override

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 ()

Protected Attributes
std::vector< DiscretizationInterface * >	discretization
	stl-vector of discretizations/finite elements

std::vector< fmatvec::Vec >	qElement
	stl-vector of finite element wise positions

std::vector< fmatvec::Vec >	uElement
	stl-vector of finite element wise velocities

double	d_massproportional
	damping factor for mass proportion, see BodyFlexible::setMassProportionalDamping()

bool	updEle
	vector of contour parameters each describing a frame More...

Protected Attributes inherited from MBSimFlexibleBody::NodeBasedBody
std::vector< fmatvec::Vec3 >	WrOP

std::vector< fmatvec::Vec3 >	WvP

std::vector< fmatvec::Vec3 >	Wom

std::vector< fmatvec::Vec3 >	WaP

std::vector< fmatvec::Vec3 >	Wpsi

std::vector< fmatvec::Vec3 >	WjP

std::vector< fmatvec::Vec3 >	WjR

std::vector< fmatvec::Vec3 >	disp

std::vector< fmatvec::SqrMat3 >	AWK

std::vector< fmatvec::Mat3xV >	WJP [2]

std::vector< fmatvec::Mat3xV >	WJR [2]

std::vector< bool >	updNodalPos

std::vector< bool >	updNodalVel

std::vector< bool >	updNodalAcc

std::vector< bool >	updNodalGA

std::vector< bool >	updNodalStress

std::vector< bool >	updNodalJac [2]

std::vector< fmatvec::Vector< fmatvec::Fixed< 6 >, double > >	sigma

int	nn {0}

std::vector< int >	nodeMap

std::vector< int >	nodeNumbers

Protected Attributes inherited from MBSim::Body
std::vector< Frame * >	frame

Frame *	R

fmatvec::Mat3xV	PJT [2]

Protected Attributes inherited from MBSim::Object
int	qSize

int	uSize [2]

int	hSize [2]

int	qInd

fmatvec::Vec	q

fmatvec::Vec	q0

fmatvec::Vec	qd

fmatvec::Vec	h [2]

fmatvec::Mat	dhdq

fmatvec::Mat	T

fmatvec::SymMat	M

fmatvec::SymMat	LLM

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

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

Public Attributes inherited from MBSim::Element
	resolveStringRef

	preInit

	plotting

	unknownStage

Detailed Description

upmost class for flexible body implementation

Author: Roland Zander; Thorsten Schindler

Date: 2009-03-24 changes for new MBSim (Thorsten Schindler); 2009-03-25 conflicts solved (Thorsten Schindler); 2009-04-05 changed to non-template definition (Schindler / Zander); 2009-04-20 frame concept (Thorsten Schindler); 2009-06-14 OpenMP (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-07-27 implicit integration (Thorsten Schindler); 2010-06-20 revision of doxygen comments: add parameter names (Roland Zander)

Todo:

OpenMP only static scheduling with intelligent reordering of vectors by dynamic test runs TODO

mass proportional damping should be distributed on discretization and is not at the correct place (dependence on M) TODO

Constructor & Destructor Documentation

◆ FlexibleBody()

MBSimFlexibleBody::FlexibleBody::FlexibleBody ( const std::string & name )

constructor

Parameters

name of body

Member Function Documentation

◆ addContour()

void MBSimFlexibleBody::FlexibleBody::addContour ( MBSim::Contour * contour )

overridevirtual

Reimplemented from MBSim::Body.

◆ addFrame() [1/2]

void MBSimFlexibleBody::FlexibleBody::addFrame ( MBSim::FixedRelativeFrame * frame )

Parameters

fixed relative frame that should be added

◆ addFrame() [2/2]

void MBSimFlexibleBody::NodeBasedBody::addFrame ( NodeBasedFrame * frame )

Parameters

node frame

◆ BuildElements()

virtual void MBSimFlexibleBody::FlexibleBody::BuildElements ( )

pure virtual

references finite element coordinates to assembled coordinates

◆ computePotentialEnergy()

double MBSimFlexibleBody::FlexibleBody::computePotentialEnergy ( )

virtual

Reimplemented in MBSimFlexibleBody::FlexibleBody2s13.

◆ exportPositionVelocity()

virtual void MBSimFlexibleBody::FlexibleBody::exportPositionVelocity	(	const std::string &	filenamePos,
		const std::string &	filenameVel = `std::string()`,
		const int &	deg = `3`,
		const bool &	writePsFile = `false`
	)

inlinevirtual

interpolates the position and optional the velocity coordinates of the flexible body with Nurbs-package and exports the nurbs curve in the specified file

Parameters

filenamePos	Name of the exported position curve file
filenameVel	Name of the exported velocity curve file
deg	Degree of Nurbs interpolation
writePsFile	A Postscript-file of the curve profile is created

Remark: the knot vector is parametrized between [0,L]

Reimplemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, MBSimFlexibleBody::FlexibleBody1s21RCM, MBSimFlexibleBody::FlexibleBody1s33Cosserat, MBSimFlexibleBody::FlexibleBody1s33RCM, and MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ GlobalMatrixContribution() [1/2]

virtual void MBSimFlexibleBody::FlexibleBody::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::Mat &	locMat,
		fmatvec::Mat &	gloMat
	)

pure virtual

insert 'local' information in global matrices

Parameters

CurrentElement	number of current finite element
locMat	local matrix
gloMat	global matrix

◆ GlobalMatrixContribution() [2/2]

virtual void MBSimFlexibleBody::FlexibleBody::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::SymMat &	locMat,
		fmatvec::SymMat &	gloMat
	)

pure virtual

insert 'local' information in global matrices

Parameters

CurrentElement	number of current finite element
locMat	local matrix
gloMat	global matrix

◆ GlobalVectorContribution()

virtual void MBSimFlexibleBody::FlexibleBody::GlobalVectorContribution	(	int	CurrentElement,
		const fmatvec::Vec &	locVec,
		fmatvec::Vec &	gloVec
	)

pure virtual

insert 'local' information in global vectors

Parameters

number	of finite element
local	vector
global	vector

◆ importPositionVelocity()

virtual void MBSimFlexibleBody::FlexibleBody::importPositionVelocity	(	const std::string &	filenamePos,
		const std::string &	filenameVel = `std::string()`
	)

inlinevirtual

imports the interpolated position and optional the velocity files (created with exportPositionVelocity) and fits the rigid and flexible coordinate dofs and optional the translatory velocity components of flexible body to the imported nurbs curve

Parameters

filenamePos	Name of the imported position curve file
filenameVel	Name of the imported velocity curve file

Reimplemented in MBSimFlexibleBody::FlexibleBody1s21Cosserat, MBSimFlexibleBody::FlexibleBody1s21RCM, MBSimFlexibleBody::FlexibleBody1s33Cosserat, MBSimFlexibleBody::FlexibleBody1s33RCM, and MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ setFrameOfReference()

void MBSimFlexibleBody::FlexibleBody::setFrameOfReference ( MBSim::Frame * frame )

overridevirtual

Reimplemented from MBSim::Body.

◆ setMassProportionalDamping()

void MBSimFlexibleBody::FlexibleBody::setMassProportionalDamping ( const double d_ )

inline

Jacobians and gyroscopes for contour or external frame are set by implementation class.

       \brief cartesian kinematic on a node
      &zwj;/

virtual void updateKinematicsAtNode(NodeFrame *frame, MBSim::Frame::Feature ff) { throwError("updateKinematicsAtNode(): Not implemented for " + typid(*this).name()); //TODO: make that interface prettier }

/‍**

Parameters

data	contour parameter
frame	optional external frame, otherwise contour parameters are changed ‍/ virtual void updateJacobiansForFrame(MBSim::ContourPointData &data, MBSim::Frame frame=0) = 0; /‍*************************************************‍/ / GETTER / SETTER

damping matrix computation, updated with changes in mass matrix \(\vM\): \(\vh_d=-d_{pm}\vM\vu\)

set mass proportional damping

Parameters

d_	coefficient \(d_{pm}\)

Member Data Documentation

◆ updEle

bool MBSimFlexibleBody::FlexibleBody::updEle

protected

vector of contour parameters each describing a frame

list of all contour frames

Todo:: : actually continous frames should be added to a contour and not to the body?!

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body.cc

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBody()

Member Function Documentation

◆ addContour()

◆ addFrame() [1/2]

◆ addFrame() [2/2]

◆ BuildElements()

◆ computePotentialEnergy()

◆ exportPositionVelocity()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ importPositionVelocity()

◆ setFrameOfReference()

◆ setMassProportionalDamping()

Member Data Documentation

◆ updEle