Finite-Element class for the body FlexibleBody1SReferenceCurve. More...

#include <1S_reference_curve.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE:

Public Member Functions
	FlexibleBody1SReferenceCurveFE (FlexibleBody1SReferenceCurve *parent, int eleNo, Vec2 alpha, int order, int nodeDofs)
	standard constructor

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

virtual int	getqSize () const

virtual fmatvec::Vec	getq () const

virtual int	getuSize () const

virtual const fmatvec::SymMat &	getM () const

virtual const fmatvec::Vec &	geth () const

virtual const fmatvec::SqrMat &	getdhdq () const

virtual const fmatvec::SqrMat &	getdhdu () const

virtual void	computeM (const fmatvec::Vec &q)
	compute mass matrix More...

virtual void	computeh (const fmatvec::Vec &q, const fmatvec::Vec &u)
	compute smooth right hand side More...

virtual void	computedhdz (const fmatvec::Vec &q, const fmatvec::Vec &u)
	compute Jacobian for implicit integration More...

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

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

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

virtual fmatvec::Vec	computePosition (const fmatvec::Vec &q, const MBSim::ContourPointData &data)

virtual fmatvec::SqrMat	computeOrientation (const fmatvec::Vec &q, const MBSim::ContourPointData &data)

virtual fmatvec::Vec	computeVelocity (const fmatvec::Vec &q, const fmatvec::Vec &u, const MBSim::ContourPointData &data)

virtual fmatvec::Vec	computeAngularVelocity (const fmatvec::Vec &q, const fmatvec::Vec &u, const MBSim::ContourPointData &data)

virtual fmatvec::Mat	computeJacobianOfMotion (const fmatvec::Vec &q, const MBSim::ContourPointData &data)

virtual void	setDofDir (fmatvec::VecInt dofDirElement_)

virtual fmatvec::VecInt	getDofDirs ()

virtual int	getAddDoFSizeMax () const
	get the number of possible degrees of freedom (some may be locked, but this is not covered in the number)

virtual int	getNodesSize () const
	get the number of Nodes

FlexibleBody1SReferenceCurve *	getParent ()

const std::vector< int >	getFreeDofs ()

const fmatvec::Vec2	getAlpha ()

int	findLocalDof (int globalDof)

virtual double	computeXiLoc (double xiGlob)
	compute the local position

virtual double	computeXiGlob (double xiLoc)
	compute the global position

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	computev (double xi, int derXi=0)
	compute the velocity and/or its derivative w.r.t. xi and/or theta

fmatvec::Vec3	computedrdqk (double xi, int derXi, int qIndLoc)
	computes the derivative wrt the generalized position of the local element

virtual double	computeN (int j, double xiLoc, int derXi)
	compute the result of the ansatz function N of number j Here hierarchical basis is used. More...

virtual double	computeLegendre (int j, double xiLoc, int derXi)
	compute Legendre Polynomial

fmatvec::Vec3	computeB (int dofDirLocal, double xiGlob, int derXi, int derTheta)
	compute the column i of the B matrix (the column that is connected to the localDOF) More...

fmatvec::Vec3	computeBqf (double xi, int derXi, int derTheta)
	compute the multiplication of the B matrix with qf

fmatvec::Vec3	computeBuf (double xi, int derXi, int derTheta)
	compute the multiplication of the B matrix with uf

virtual fmatvec::Vec3	computeS (int columnEle, double xiGlob, int derXi)
	return the column of DOF with column i More...

virtual fmatvec::Vec3	computeSTimeslocVec (double xiGlob, int derXi, const fmatvec::Vec &locVec)
	compute S times the given vector

virtual fmatvec::Vec3	computeAnodeTimesSTimeslocVec (double xiGlob, int derXi, int derTheta, const fmatvec::Vec &locVec)
	compute A of the node times the respective shape functions times the given vector

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

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

double	computeeps (double xiGlob)
	compute the local elongation

double	computedepsdqk (int localDofDir, double xiGlob)
	compute the derivative of the local elongation w.r.t. local Dof direction

double	computeKappan (double xiGlob)
	compute the bending in t/n-plane

double	computeKappab (double xiGlob)
	compute the bending in t/b-plane

double	computedKappandqk (double xiGlob, int qIndLocal)
	compute derivative of kappan w.r.t. the given DoF

double	computedKappabdqk (double xiGlob, int qIndLocal)
	compute derivative of kappab w.r.t. the given DoF

double	dWndqk (double xiGlob, int qInd)
	compute the change of bending energy in the t/n-plane at the position w.r.t the given DoF

void	updateIntegrationBorders (double t)
	update the borders as

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
std::vector< double >	getLagrangeCoeffs (int nodeNo)
	function that holds the coefficient for the lagrange polynoms

std::vector< double >	getHermiteCoeffs (int nodeNo)
	function that holds the coefficient for the hermite polynoms

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)

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

double	integrateForWn (int qIndLoc)
	computes the integral of the h vector coming from the potential energy (intForWn)

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

double	computeXiOfDOF (int dofDirLocal)

Private Attributes
FlexibleBody1SReferenceCurve *	parent
	parent body

int	element
	number of the element

fmatvec::VecInt	dofDirs
	vector that connects local DOFs of an element to the global DOFs More...

fmatvec::Vec2	alpha

std::vector< double >	borders
	borders for the integration

int	order
	degree of the element

int	nodeDirs
	Degrees of freedom for one node (number of directions)

std::vector< int >	freeDoFs
	number of free DoFs in the element

std::vector< std::vector< std::vector< double > > >	coeffs
	list of polynomial coefficients First index is the node Second index is the derivative third index is the actual coefficient

fmatvec::SymMat	M
	Mass matrix of the element.

fmatvec::Vec	h
	the right hand side vector

fmatvec::VecV	hT1
	first part of h-vector coming from the kinetic energy

fmatvec::VecV	hT2
	second part of h-vector coming from the kinetic energy

fmatvec::VecV	hT3
	second part of h-vector coming from the kinetic energy

fmatvec::VecV	hV1
	first part of h-vector coming from the potential energy (elongation)

fmatvec::VecV	hV2
	second part of h-vector coming from the potential energy (normal bending)

fmatvec::VecV	hV3
	third part of the h-vector coming from the potential energy (binormal bending)

fmatvec::VecV	hV4
	fourth part of the h-vector coming from the potential energy (torsion)

int	AVers = 2
	switch between different versions of the A-Matrix

Friends
class	funcPTP

class	funcPTdPdxi

class	funcPTdPdt

class	funcPTdPdqk

class	funcForWgamma

class	funcForWb

Detailed Description

Finite-Element class for the body FlexibleBody1SReferenceCurve.

Member Function Documentation

◆ computeB()

fmatvec::Vec3 MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeB	(	int	dofDirLocal,
		double	xiGlob,
		int	derXi,
		int	derTheta
	)

compute the column i of the B matrix (the column that is connected to the localDOF)

Remarks: here all columns can considered (also blocked DOFs)

◆ computedhdz()

virtual void MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computedhdz	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

inlinevirtual

compute Jacobian for implicit integration

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeElasticEnergy()

virtual double MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeElasticEnergy ( const fmatvec::Vec & q )

inlinevirtual

compute elastic energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeGravitationalEnergy()

virtual double MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeGravitationalEnergy ( const fmatvec::Vec & q )

inlinevirtual

compute gravitational energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeh()

void MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeh	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

virtual

compute smooth right hand side

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeKineticEnergy()

virtual double MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeKineticEnergy	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

inlinevirtual

compute kinetic energy

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeM()

void MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeM ( const fmatvec::Vec & q )

virtual

compute mass matrix

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeN()

double MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeN	(	int	j,
		double	xiLoc,
		int	derXi
	)

virtual

compute the result of the ansatz function N of number j Here hierarchical basis is used.

Parameters

j	Number of DoF
xiLoc	Local position on function
derXi	Derivative w.r.t. Xi

! The following code uses the horner rule to evaluate the ansatz function that is a polynom with given coefficients!

◆ computeS()

Vec3 MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::computeS	(	int	columnEle,
		double	xiGlob,
		int	derXi
	)

virtual

return the column of DOF with column i

Remarks: here all columns can considered (also blocked DOFs)

◆ getdhdq()

virtual const fmatvec::SqrMat & MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::getdhdq ( ) const

inlinevirtual

Returns: Jacobian of implicit integration regarding position

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdu()

virtual const fmatvec::SqrMat & MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::getdhdu ( ) const

inlinevirtual

Returns: Jacobian of implicit integration regarding velocity

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ geth()

virtual const fmatvec::Vec & MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::geth ( ) const

inlinevirtual

Returns: smooth right hand side of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getM()

virtual const fmatvec::SymMat & MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::getM ( ) const

inlinevirtual

Returns: mass matrix of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getqSize()

virtual int MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::getqSize ( ) const

inlinevirtual

Returns: dimension of positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getuSize()

virtual int MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::getuSize ( ) const

inlinevirtual

Returns: dimension of velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

Member Data Documentation

◆ dofDirs

fmatvec::VecInt MBSimFlexibleBody::FlexibleBody1SReferenceCurveFE::dofDirs

private

vector that connects local DOFs of an element to the global DOFs

Remarks: negative values mean that those are blocked DoFs and therefore not free

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

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆ computeB()

◆ computedhdz()

◆ computeElasticEnergy()

◆ computeGravitationalEnergy()

◆ computeh()

◆ computeKineticEnergy()

◆ computeM()

◆ computeN()

◆ computeS()

◆ getdhdq()

◆ getdhdu()

◆ geth()

◆ getM()

◆ getqSize()

◆ getuSize()

Member Data Documentation

◆ dofDirs