flexible body for planar beam using Cosserat model More...

#include <1s_21_cosserat.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s21Cosserat:

Public Member Functions
	FlexibleBody1s21Cosserat (const std::string &name, bool openStructure)
	constructor More...

	~FlexibleBody1s21Cosserat () override
	destructor

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

const fmatvec::Vec &	evalqFull ()

const fmatvec::Vec &	evaluFull ()

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

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

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

void	exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false) override
	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...

void	importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string()) override
	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	updatePositions (Frame1s *frame) override

void	updateVelocities (Frame1s *frame) override

void	updateAccelerations (Frame1s *frame) override

void	updateJacobians (Frame1s *frame, int j=0) override

void	updateGyroscopicAccelerations (Frame1s *frame) override

void	updatePositions (int node) override

void	updateVelocities (int node) override

void	updateAccelerations (int node) override

void	updateJacobians (int node, int j=0) override

void	updateGyroscopicAccelerations (int node) override

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

double	computePotentialEnergy () override

void	updateM () override

void	updateLLM () override

void	updateh (int i=0) override

void	setNumberElements (int n) override

void	setMomentsInertia (double I1_) override

void	setCurlRadius (double R1_) override

void	setMaterialDamping (double cEps0D_, double cEps1D_) override

fmatvec::Mat3xV	transformJacobian (fmatvec::Mat3xV J) override
	interface function to transform the Jacobian if the generalized coordinates have been changed More...

int	getNumberOfElementDOF () const override

int	getNumberElements () const override

double	getLength () const

int	getqSizeFull () const override

bool	isOpenStructure () const

void	enablePOD (const std::string &h5Path, int reduceMode=0, int POMSize=0)

fmatvec::Vector< fmatvec::Fixed< 6 >, double >	getPositions (double x)
	compute positions and angle at Lagrangian coordinate in local FE coordinates More...

fmatvec::Vector< fmatvec::Fixed< 6 >, double >	getVelocities (double x)
	compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates More...

fmatvec::Vec3	computeAngles (double sGlobal, const fmatvec::Vec &vec)
	compute angles at Lagrangian coordinate in local FE coordinates More...

void	initInfo () override
	initialise beam only for giving information with respect to state, number elements, length, (not for simulation) More...

void	BuildElementTranslation (const double &sGlobal, double &sLocal, int &currentElementTranslation) override
	detect current finite element (translation) More...

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1sCosserat
	FlexibleBody1sCosserat (const std::string &name, bool openStructure)
	constructor More...

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

const fmatvec::Vec &	evalqRotationElement (int i)

const fmatvec::Vec &	evaluRotationElement (int i)

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

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

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

void	exportPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string(), const int &deg=3, const bool &writePsFile=false) override=0
	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...

void	importPositionVelocity (const std::string &filenamePos, const std::string &filenameVel=std::string()) override=0
	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	updateh (int i=0) override

virtual void	setNumberElements (int n)=0

void	setEGModuls (double E_, double G_)

void	setDensity (double rho_)

void	setCrossSectionalArea (double A_)

virtual void	setMomentsInertia (double I1_, double I2_, double I0_)

virtual void	setMomentsInertia (double I1_)

virtual void	setCurlRadius (double R1_, double R2_)

virtual void	setCurlRadius (double R1_)

virtual void	setMaterialDamping (double cEps0D_, double cEps1D_, double cEps2D_)

virtual void	setMaterialDamping (double cEps0D_, double cEps1D_)

virtual Contour1sNeutralCosserat *	createNeutralPhase (const std::string &contourName="Neutral")
	automatically creates its neutral contour

virtual fmatvec::Mat3xV	transformJacobian (fmatvec::Mat3xV J)
	interface function to transform the Jacobian if the generalized coordinates have been changed More...

virtual int	getNumberOfElementDOF () const

virtual int	getNumberElements () const

virtual int	getqSizeFull () const

virtual void	initInfo ()=0
	initialise beam only for giving information with respect to state, number elements, length, (not for simulation) More...

virtual void	BuildElementTranslation (const double &sGlobal, double &sLocal, int &currentElementTranslation)=0
	detect current finite element (translation) More...

Public Member Functions inherited from MBSimFlexibleBody::FlexibleBody1s
	FlexibleBody1s (const std::string &name, bool openStructure)
	constructor: More...

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

void	plot () override

void	setLength (double L_)

double	getLength () const

bool	getOpenStructure () const

void	addFrame (Frame1s *frame)

virtual void	updatePositions (Frame1s *frame)

virtual void	updateVelocities (Frame1s *frame)

virtual void	updateAccelerations (Frame1s *frame)

virtual void	updateJacobians (Frame1s *frame, int j=0)

virtual void	updateGyroscopicAccelerations (Frame1s *frame)

virtual fmatvec::Vec3	getPosition (double s)

virtual fmatvec::SqrMat3	getOrientation (double s)

virtual fmatvec::Vec3	getAngles (double s)

void	setOpenMBVSpineExtrusion (const std::shared_ptr< OpenMBV::SpineExtrusion > &body)

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 ()

Protected Member Functions
	FlexibleBody1s21Cosserat (const FlexibleBody1s21Cosserat &)

FlexibleBody1s21Cosserat &	operator= (const FlexibleBody1s21Cosserat &)

void	initM () override
	initialize translational part of mass matrix and calculate Cholesky decomposition More...

void	computeBoundaryCondition () override
	compute boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated in the following function More...

void	GlobalVectorContributionRotation (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec) override
	insert 'local' information in global vectors for rotation grid More...

fmatvec::Mat	readPositionMatrix (const std::string &h5File, const std::string &job)
	read position matrix of other simulation for POD-reduction More...

int	findPOMSize (const fmatvec::Mat &POM, const fmatvec::Mat &SVD, double precission=1 - 1.e-3)
	find reduction order for POM More...

Protected Member Functions inherited from MBSimFlexibleBody::FlexibleBody1sCosserat
	FlexibleBody1sCosserat (const FlexibleBody1sCosserat &)

FlexibleBody1sCosserat &	operator= (const FlexibleBody1sCosserat &)

virtual void	initM ()=0
	initialize translational part of mass matrix and calculate Cholesky decomposition More...

virtual void	computeBoundaryCondition ()=0
	compute boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated in the following function More...

virtual void	GlobalVectorContributionRotation (int n, const fmatvec::Vec &locVec, fmatvec::Vec &gloVec)=0
	insert 'local' information in global vectors for rotation grid More...

Protected Attributes
fmatvec::SymMat	MConst
	constant mass matrix

fmatvec::SymMat	LLMConst
	constant decomposed mass matrix

bool	JInterp
	marker if Jacobians already interpolated

bool	PODreduced
	bool true: execute POD, false: without POD

fmatvec::Mat	U
	POM projection matrix.

fmatvec::Vec	qFull
	vector of position-DOFs of full system

fmatvec::Vec	uFull
	vector of velocity-DOFs of full system

fmatvec::Vec	hFull
	vector of smooth right-hand side of full system

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody1sCosserat
std::vector< DiscretizationInterface * >	rotationDiscretization
	stl-vector of finite elements for rotation grid

std::vector< fmatvec::Vec >	qRotationElement
	stl-vector of finite element positions for rotation grid

std::vector< fmatvec::Vec >	uRotationElement
	stl-vector of finite element wise velocities for rotation grid

CardanPtr	angle
	angle parametrisation

int	Elements
	number of translational elements

int	rotationalElements
	number of rotational elements =Elements (for a closed structure) or =Elements+1 (for an open structure)

double	l0
	length of entire beam and finite elements

double	E
	elastic modules

double	G

double	A
	area of cross-section

double	I1
	area moments of inertia I0: around torsional axis I1: in t-b-plane I2: in t-n-plane

double	rho
	density

double	R1
	radius of undeformed shape R1: in t-b-plane R2: in t-n-plane

double	cEps0D
	strain damping

double	cEps1D

bool	initialised
	initialised FLAG

fmatvec::Vec	bound_ang_start
	boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated by the following values calculated in computeBoundaryCondition()

fmatvec::Vec	bound_ang_end

fmatvec::Vec	bound_ang_vel_start

fmatvec::Vec	bound_ang_vel_end

Contour1sNeutralCosserat *	ncc
	contour for the spine extrusion

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBody1s
double	L
	length of beam

bool	openStructure
	flag for open (cantilever beam) or closed (rings) structures

Frame1s	P

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

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

Public Attributes inherited from MBSim::Element
	resolveStringRef

	preInit

	plotting

	unknownStage

Detailed Description

flexible body for planar beam using Cosserat model

Author: Thomas Cebulla; Thorsten Schindler; Robert von Zitzewitz

Date: 2012-12-14 initial commit (Thomas Cebulla); 2013-02-04 completed 2D Cosserat beam for closed structure (Robert von Zitzewitz); 2013-02-04 completed POD model reduction for TIMESTEPPING integrator (Robert von Zitzewitz)

Todo:

compute boundary conditions TODO

open structure TODO

Cosserat model based on H. Lang, J. Linn, M. Arnold: Multi-body dynamics simulation of geometrically exact Cosserat rods but with

Kirchhoff assumption (-> less stiff)
Cardan parametrisation (-> less problems with condition and drift for quaternion dae system)
piecewise constant Darboux vector with evaluation according to I. Romero: The interpolation of rotations and its application to finite element models of geometrically exact beams

Constructor & Destructor Documentation

◆ FlexibleBody1s21Cosserat()

MBSimFlexibleBody::FlexibleBody1s21Cosserat::FlexibleBody1s21Cosserat	(	const std::string &	name,
		bool	openStructure
	)

constructor

Parameters

name	of body
bool	to specify open (cantilever) or closed (ring) structure

Member Function Documentation

◆ BuildElements()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::BuildElements ( )

overridevirtual

references finite element coordinates to assembled coordinates

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ BuildElementTranslation()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::BuildElementTranslation	(	const double &	sGlobal,
		double &	sLocal,
		int &	currentElementTranslation
	)

overridevirtual

detect current finite element (translation)

Parameters

global	parametrisation
local	parametrisation
finite	element number

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ computeAngles()

Vec3 MBSimFlexibleBody::FlexibleBody1s21Cosserat::computeAngles	(	double	sGlobal,
		const fmatvec::Vec &	vec
	)

compute angles at Lagrangian coordinate in local FE coordinates

Parameters

Lagrangian	coordinate
vector	to interpolate linearily

◆ computeBoundaryCondition()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::computeBoundaryCondition ( )

overrideprotectedvirtual

compute boundary conditions for rotation grid first and last finite difference rotation beam element refer to values not directly given by dof in open structure they have to be estimated in the following function

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ computePotentialEnergy()

double MBSimFlexibleBody::FlexibleBody1s21Cosserat::computePotentialEnergy ( )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody.

◆ exportPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::exportPositionVelocity	(	const std::string &	filenamePos,
		const std::string &	filenameVel = `std::string()`,
		const int &	deg = `3`,
		const bool &	writePsFile = `false`
	)

overridevirtual

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]

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ findPOMSize()

int MBSimFlexibleBody::FlexibleBody1s21Cosserat::findPOMSize	(	const fmatvec::Mat &	POM,
		const fmatvec::Mat &	SVD,
		double	precission = `1 - 1.e-3`
	)

protected

find reduction order for POM

Parameters

POM	POM-Matrix (matrix of the different states)
SVD	SVD-Matrix (single-valued decomposed matrix)
precission	value of how precise the reduction should be

◆ getNumberElements()

int MBSimFlexibleBody::FlexibleBody1s21Cosserat::getNumberElements ( ) const

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ getNumberOfElementDOF()

int MBSimFlexibleBody::FlexibleBody1s21Cosserat::getNumberOfElementDOF ( ) const

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ getPositions()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s21Cosserat::getPositions ( double x )

compute positions and angle at Lagrangian coordinate in local FE coordinates

Parameters

Lagrangian coordinate

◆ getqSizeFull()

int MBSimFlexibleBody::FlexibleBody1s21Cosserat::getqSizeFull ( ) const

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ getVelocities()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s21Cosserat::getVelocities ( double x )

compute velocities and differentiated angles at Lagrangian coordinate in local FE coordinates

Parameters

Lagrangian coordinate

◆ GlobalMatrixContribution() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::Mat &	locMat,
		fmatvec::Mat &	gloMat
	)

overridevirtual

insert 'local' information in global matrices

Parameters

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

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ GlobalMatrixContribution() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::GlobalMatrixContribution	(	int	CurrentElement,
		const fmatvec::SymMat &	locMat,
		fmatvec::SymMat &	gloMat
	)

overridevirtual

insert 'local' information in global matrices

Parameters

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

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ GlobalVectorContribution()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::GlobalVectorContribution	(	int	CurrentElement,
		const fmatvec::Vec &	locVec,
		fmatvec::Vec &	gloVec
	)

overridevirtual

insert 'local' information in global vectors

Parameters

number	of finite element
local	vector
global	vector

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ GlobalVectorContributionRotation()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::GlobalVectorContributionRotation	(	int	n,
		const fmatvec::Vec &	locVec,
		fmatvec::Vec &	gloVec
	)

overrideprotectedvirtual

insert 'local' information in global vectors for rotation grid

Parameters

number	of finite element
local	vector
global	vector

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ importPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::importPositionVelocity	(	const std::string &	filenamePos,
		const std::string &	filenameVel = `std::string()`
	)

overridevirtual

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

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ initInfo()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::initInfo ( )

overridevirtual

initialise beam only for giving information with respect to state, number elements, length, (not for simulation)

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ initM()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::initM ( )

overrideprotectedvirtual

initialize translational part of mass matrix and calculate Cholesky decomposition

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ readPositionMatrix()

Mat MBSimFlexibleBody::FlexibleBody1s21Cosserat::readPositionMatrix	(	const std::string &	h5File,
		const std::string &	job
	)

protected

read position matrix of other simulation for POD-reduction

Parameters

h5File	path to h5-file
job	defines the matrix, that should be used for the reduction

◆ setCurlRadius()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::setCurlRadius ( double R1_ )

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ setMaterialDamping()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::setMaterialDamping	(	double	cEps0D_,
		double	cEps1D_
	)

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ setMomentsInertia()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::setMomentsInertia ( double I1_ )

inlineoverridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ setNumberElements()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::setNumberElements ( int n )

overridevirtual

Implements MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ transformJacobian()

fmatvec::Mat3xV MBSimFlexibleBody::FlexibleBody1s21Cosserat::transformJacobian ( fmatvec::Mat3xV J )

inlineoverridevirtual

interface function to transform the Jacobian if the generalized coordinates have been changed

default: no transformation!

Todo:: : make real concept for reduced bodies in MBSim

Reimplemented from MBSimFlexibleBody::FlexibleBody1sCosserat.

◆ updateAccelerations() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateAccelerations ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateAccelerations() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateAccelerations ( int node )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateGyroscopicAccelerations() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateGyroscopicAccelerations ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateGyroscopicAccelerations() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateGyroscopicAccelerations ( int node )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateJacobians() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateJacobians	(	Frame1s *	frame,
		int	j = `0`
	)

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateJacobians() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateJacobians	(	int	node,
		int	j = `0`
	)

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateLLM()

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateLLM ( )

inlineoverridevirtual

Reimplemented from MBSim::Object.

◆ updatePositions() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updatePositions ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updatePositions() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updatePositions ( int node )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateVelocities() [1/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateVelocities ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateVelocities() [2/2]

void MBSimFlexibleBody::FlexibleBody1s21Cosserat::updateVelocities ( int node )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1s_21_cosserat.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/1s_21_cosserat.cc

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBody1s21Cosserat()

Member Function Documentation

◆ BuildElements()

◆ BuildElementTranslation()

◆ computeAngles()

◆ computeBoundaryCondition()

◆ computePotentialEnergy()

◆ exportPositionVelocity()

◆ findPOMSize()

◆ getNumberElements()

◆ getNumberOfElementDOF()

◆ getPositions()

◆ getqSizeFull()

◆ getVelocities()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ GlobalVectorContributionRotation()

◆ importPositionVelocity()

◆ initInfo()

◆ initM()

◆ readPositionMatrix()

◆ setCurlRadius()

◆ setMaterialDamping()

◆ setMomentsInertia()

◆ setNumberElements()

◆ transformJacobian()

◆ updateAccelerations() [1/2]

◆ updateAccelerations() [2/2]

◆ updateGyroscopicAccelerations() [1/2]

◆ updateGyroscopicAccelerations() [2/2]

◆ updateJacobians() [1/2]

◆ updateJacobians() [2/2]

◆ updateLLM()

◆ updatePositions() [1/2]

◆ updatePositions() [2/2]

◆ updateVelocities() [1/2]

◆ updateVelocities() [2/2]