class that implements an one dimensional nonlinear beam that uses a reference curve for the nonlinearity together with overlaid deformations. Also the Eulerian coordinates ("S" not "s") are used to project the movement of the nodes back to their original position... More...

#include <1S_reference_curve.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1SReferenceCurve:

[legend]

Public Member Functions
	FlexibleBody1SReferenceCurve (const std::string &name, ReferenceCurve *refCurve)

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

virtual void	initInfo (fmatvec::Vec q0=fmatvec::Vec(0, fmatvec::NONINIT), fmatvec::Vec u0=fmatvec::Vec(0, fmatvec::NONINIT))

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

virtual void	updateh (int k=0)

virtual void	updateM ()

virtual void	updatedq ()

virtual void	updatedu ()

virtual void	updateud ()

virtual void	updateqd ()

virtual void	initz ()

virtual void	plot (double t, double dt=1.)

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

virtual void	GlobalMatrixContribution (int, const fmatvec::Mat3xV &, fmatvec::Mat3xV &)

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

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

virtual void	setq0 (fmatvec::Vec q0_)

virtual void	setu0 (fmatvec::Vec u0_)

void	setLength (double length_)

double	getlength () const

void	setDensity (double rho_)

double	getrho () const

void	setCrossSectionalArea (double A_)

double	getA () const

void	setEModul (double E_)

double	getE () const

void	setNu (double nu_)

double	getNu () const

void	setIn (double In_)

double	getIn () const

void	setIb (double Ib_)

double	getIb () const

void	setIt (double It_)

double	getIt () const

void	setdPulley (double dPulley_)

double	getdPulley () const

void	setNumberElements (int elements_)

void	setElementOrder (int elementOrder_)

void	setNodeDofs (int nodeDofs_)

void	setUseSpatialReferenceKinematics (bool switch_)

void	setThetaDamping (double dTheta_)

void	setLockedDofs (std::set< int > lockedDofs_)

void	setLambdaqSwitches (const fmatvec::VecV &lambdaqSwitches_)

void	setLambdauSwitches (const fmatvec::VecV &lambdauSwitches_)

virtual void	setelongationActive (bool val)

virtual void	setnormalBendingActive (bool val)

virtual double	gets ()

Contour1sNeutralFlexibleBody1SReferenceCurve *	createNeutralPhase (const std::string &contourName)
	create a neutral phase as a basis for overlaid contours

double	computePhysicalStrain (double xi)
	compute the physical strain at the Eulerian coordinate xi

fmatvec::Vec	computeNeutralState (const fmatvec::Vec &q0)
	compute the neutral state, i.e. h = 0

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBodyContinuum< double >
	FlexibleBodyContinuum (const std::string &name)
	constructor More...

void	setContourNodes (const std::vector< double > nodes)

void	setNodeOffset (const double nodeOffset_)

double	getNodeOffset () const

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody
	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 ()

Private Member Functions
double	computeG () const
	computes the shear modulus G

fmatvec::Vec3	computer (double xi, int derXi=0, int derTheta=0)
	compute the position and/or its derivative w.r.t. xi and/or theta

fmatvec::Vec3	computedrdqk (double xi, int derXi, int qInd)
	computes the derivative wrt the generalized positions

fmatvec::Vec3	computev (double xi)
	compute the velocity and/or its derivative w.r.t. xi and/or theta

fmatvec::Vec3	computerRef (double xi, int derXi=0, int derTheta=0)
	compute the position and its derivatives w.r.t. xi or theta at position xi and ratio Theta

fmatvec::SqrMat3	computeARef (double xi, int derXi=0, int derTheta=0)
	compute the local transformation Matrix A and its derivatives w.r.t. xi or theta at position xi and ratio Theta

fmatvec::Vec3	computenRef (double xi, int derXi=0, int derTheta=0)
	compute the normal vector at the given position

fmatvec::Vec3	computeSElement (int globalDOF, double xi, int derXi)
	compute the column of the elements S matrix

fmatvec::Vec3	computeSqfElement (double xi, int derXi)
	compute the deformation vector, i.e. S*qf, for the ring

fmatvec::Vec3	computeSufElement (double xi, int derXi)
	compute the deformation vector, i.e. S*uf, for the ring

fmatvec::Mat3xV	computeP (double xi, int derXi=0)
	compute the P matrix

fmatvec::Mat3xV	computedPdqk (double xi, int qInd)
	compute the P matrix derived wrt the generalized position

fmatvec::SymMatV	integratePTP ()
	computes the integral needed for the mass matrix (\int P^T P)

fmatvec::SqrMatV	integratePTdPdxi ()
	computes the integral for the first part of the h vector coming from the kinetic energy (\int P^T * P')

fmatvec::SqrMatV	integratePTdPdt ()
	computes the integral for the second part of the h vector coming from the kinetic energy (\int P^T * dPdt)

fmatvec::SqrMatV	integratePTdPdqk (int qInd)
	computes the integral for the third part of the h vector coming from the kinetic energy (\int P^T * dPdqk)

fmatvec::Vec3	integrateForWgammaWnWtau (int qInd)
	computes the integral for the first part of the h vector coming from the potential energy (intForWgamma)

double	integrateForWb (int qInd)
	computes the integral for the second part of the h vector coming from the potential energy (intForWgamma)

int	findElement (double &xi)
	find the element number of the given global coordinate More...

std::vector< std::pair< int, int > >	getElementAndLocalDoFNo (int globalColumn)
	find the elemental DOF Number out of the global DOF Number More...

int	getEleDofs () const
	get the number of DOFs for one element

Private Attributes
ReferenceCurve *	refCurve
	the reference curve

int	elements
	number of elements used

int	nodeDoFs
	DoFs per element.

int	elementOrder
	DoFs per element.

bool	useSpatialReferenceKinematics
	switch to only use kinematical reference deformation

double	length
	length of ring

double	rho
	density of the body

double	A
	cross section Area of the body

double	E
	Youngs modulus of the body.

double	nu
	Poisson-ratio of the body.

double	In
	area moment of inertia around normal axis

double	Ib
	area moment of inertia around binormal axis

double	It
	area moment of inertia around torsional axis

double	dPulley
	distance between pulleys

fmatvec::Vec3	b
	Binormal of the curve.

double	dTheta
	damping coefficient for theta

std::set< int >	lockedDofsFull
	this vector saves the locked DOFs of the system

fmatvec::VecV	qF
	vector for PT1 in positions

fmatvec::VecV	uF
	vector for PT1 in velocities

fmatvec::VecV	lambdaqFSwitches
	these are the switches to the the lambdaqSwitches The first entrie is always the entro for "s" the second one always for "theta". Then it depends on the element order but it actually follows just the global q-vector. Thus for elementOrder 3 and planar it is like this: lambdaqSwitches = [s, theta, qt, qn, qt', qn'] Thus for elementOrder 5 and spatial it is like this: lambdaqSwitches = [s, theta, qt, qn, qb, qt', qn', qb'', qt'', qn'', qb''] As here only the switches are set no one cars for the locked directions...

fmatvec::VecV	lambdauFSwitches
	these are the switches to the the lambdauSwitches See the explanations for the qSwitches, however for the generalized velocities

fmatvec::VecV	lambdaqF
	lambda factors for qFs

fmatvec::VecV	lambdauF
	lambda factors for uFs

bool	usePT1 = false
	switch to use either the lambda PT1 version or not

std::vector< fmatvec::Vec >	qElementAll
	vector storing the values of the locked and not locked Dofs

std::vector< fmatvec::Vec >	uElementAll
	vector storing the values of the locked and not locked Dofs generelaized velocities

int	updateReferenceEvery
	number of how often the reference movement should be updated compared to the local movements

int	referenceNotUpdated
	counter of how many updates have been done since the last time

double	tLastRefUpdate
	marker since when the last update has been done on the reference

bool	elongationActive = true
	switch to enable / disable the elongation energy in the h-vector

bool	normalBendingActive = true
	switch to enable / disable the normal bending energy in the h-vector

Friends
class	FlexibleBody1SReferenceCurveFE

class	Contour1sNeutralFlexibleBody1SReferenceCurve

class	funcForWgamma

class	gethFunc

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 MBSimFlexibleBody::FlexibleBodyContinuum< double >
std::vector< double >	userContourNodes
	grid for contact point detection

double	nodeOffset
	offset of the ROTNODE from the TRANSNODE

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody
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

Detailed Description

class that implements an one dimensional nonlinear beam that uses a reference curve for the nonlinearity together with overlaid deformations. Also the Eulerian coordinates ("S" not "s") are used to project the movement of the nodes back to their original position...

Member Function Documentation

◆ BuildElements()

void MBSimFlexibleBody::FlexibleBody1SReferenceCurve::BuildElements ( )

virtual

references finite element coordinates to assembled coordinates

Implements MBSimFlexibleBody::FlexibleBody.

◆ findElement()

int MBSimFlexibleBody::FlexibleBody1SReferenceCurve::findElement ( double & xi )

private

find the element number of the given global coordinate

Remarks: : If xi is not valid (not big or too small it is changed!)

◆ getElementAndLocalDoFNo()

std::vector< std::pair< int, int > > MBSimFlexibleBody::FlexibleBody1SReferenceCurve::getElementAndLocalDoFNo ( int globalColumn )

private

find the elemental DOF Number out of the global DOF Number

Remarks: the first two local DOFs are locked

◆ GlobalMatrixContribution() [1/2]

virtual void MBSimFlexibleBody::FlexibleBody1SReferenceCurve::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::Mat &	locMat,
		fmatvec::Mat &	gloMat
	)

inlinevirtual

insert 'local' information in global matrices

Parameters

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

Implements MBSimFlexibleBody::FlexibleBody.

◆ GlobalMatrixContribution() [2/2]

void MBSimFlexibleBody::FlexibleBody1SReferenceCurve::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::SymMat &	locMat,
		fmatvec::SymMat &	gloMat
	)

virtual

insert 'local' information in global matrices

Parameters

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

Implements MBSimFlexibleBody::FlexibleBody.

◆ GlobalVectorContribution()

void MBSimFlexibleBody::FlexibleBody1SReferenceCurve::GlobalVectorContribution	(	int	CurrentElement,
		const fmatvec::Vec &	locVec,
		fmatvec::Vec &	gloVec
	)

virtual

insert 'local' information in global vectors

Parameters

number	of finite element
local	vector
global	vector

Implements MBSimFlexibleBody::FlexibleBody.

◆ initz()

void MBSimFlexibleBody::FlexibleBody1SReferenceCurve::initz ( )

virtual

Reimplemented from MBSim::Object.

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1S_reference_curve.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1S_reference_curve.cc

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ BuildElements()

◆ findElement()

◆ getElementAndLocalDoFNo()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ initz()