spatial beam using Redundant Coordinate Method (RCM) More...

#include <1s_33_rcm.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBody1s33RCM:

Public Member Functions
	FlexibleBody1s33RCM (const std::string &name="", bool openStructure=false)
	constructor More...

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

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

virtual void	updatePositions (NodeFrame *frame)

virtual void	updateVelocities (NodeFrame *frame)

virtual void	updateAccelerations (NodeFrame *frame)

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

virtual void	updateGyroscopicAccelerations (NodeFrame *frame)

fmatvec::Vec3	getAngles (double s) override

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

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setNumberElements (int n)

int	getNumberElements ()

void	setEGModuls (double E_, double G_)

void	setDensity (double rho_)

void	setCrossSectionalArea (double A_)

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

void	setMaterialDamping (double epstD_, double k0D_)

void	setGauss (int nGauss_)

void	setCurlRadius (double R1_, double R2_)

void	setLehrDamping (double epstL_, double k0L_)

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...

double	computePhysicalStrain (const double sGlobal)
	compute the physical strain of the element More...

void	initInfo ()

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 ()

Private Member Functions
void	BuildElement (const double &sGlobal, double &sLocal, int &currentElement)
	detect current finite element More...

Private Attributes
RevCardanPtr	angle
	angle parametrisation

int	Elements
	number of elements

double	l0
	length of entire beam and finite elements

double	E
	elastic modules

double	G

double	A
	area of cross-section

double	I1
	area moment of inertia

double	I2

double	I0

double	rho
	density

double	R1
	radius of undeformed shape

double	R2

double	epstD
	damping

double	k0D

double	epstL

double	k0L

bool	initialised
	initialised FLAG

int	nGauss
	number of Gauss points for rotational kinetic energy

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::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

Detailed Description

spatial beam using Redundant Coordinate Method (RCM)

Author: Thorsten Schindler

Date: 2009-04-17 initial commit kernel_dev (Thorsten Schindler); 2009-05-08 visualisation (Thorsten Schindler); 2009-07-16 splitted link / object right hand side (Thorsten Schindler); 2009-07-23 implicit integration (Thorsten Schindler); 2012-01-10 import / export position and velocity (Cebulla / Grundl); 2012-05-14 added Contour1sFlexible for perlchain example (Thomas Cebulla)

Todo:

gyroscopic accelerations TODO

inverse kinetics TODO

Constructor & Destructor Documentation

◆ FlexibleBody1s33RCM()

MBSimFlexibleBody::FlexibleBody1s33RCM::FlexibleBody1s33RCM	(	const std::string &	name = `""`,
		bool	openStructure = `false`
	)

constructor

Parameters

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

Member Function Documentation

◆ BuildElement()

void MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElement	(	const double &	sGlobal,
		double &	sLocal,
		int &	currentElement
	)

private

detect current finite element

Parameters

global	parametrisation
local	parametrisation
finite	element number

◆ BuildElements()

void MBSimFlexibleBody::FlexibleBody1s33RCM::BuildElements ( )

overridevirtual

references finite element coordinates to assembled coordinates

Implements MBSimFlexibleBody::FlexibleBody.

◆ computePhysicalStrain()

double MBSimFlexibleBody::FlexibleBody1s33RCM::computePhysicalStrain ( const double sGlobal )

compute the physical strain of the element

Parameters

Lagrangian coordinate

◆ exportPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s33RCM::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]

Reimplemented from MBSimFlexibleBody::FlexibleBody.

◆ getAngles()

Vec3 MBSimFlexibleBody::FlexibleBody1s33RCM::getAngles ( double s )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ getPositions()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getPositions ( double x )

compute positions and angle at Lagrangian coordinate in local FE coordinates

Parameters

Lagrangian coordinate

◆ getVelocities()

fmatvec::Vector< Fixed< 6 >, double > MBSimFlexibleBody::FlexibleBody1s33RCM::getVelocities ( double x )

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

Parameters

Lagrangian coordinate

◆ GlobalMatrixContribution() [1/2]

void MBSimFlexibleBody::FlexibleBody1s33RCM::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::FlexibleBody.

◆ GlobalMatrixContribution() [2/2]

void MBSimFlexibleBody::FlexibleBody1s33RCM::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::FlexibleBody.

◆ GlobalVectorContribution()

void MBSimFlexibleBody::FlexibleBody1s33RCM::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::FlexibleBody.

◆ importPositionVelocity()

void MBSimFlexibleBody::FlexibleBody1s33RCM::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

Reimplemented from MBSimFlexibleBody::FlexibleBody.

◆ initInfo()

void MBSimFlexibleBody::FlexibleBody1s33RCM::initInfo ( )

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

◆ updateAccelerations()

void MBSimFlexibleBody::FlexibleBody1s33RCM::updateAccelerations ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateGyroscopicAccelerations()

void MBSimFlexibleBody::FlexibleBody1s33RCM::updateGyroscopicAccelerations ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateJacobians()

void MBSimFlexibleBody::FlexibleBody1s33RCM::updateJacobians	(	Frame1s *	frame,
		int	j = `0`
	)

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updatePositions()

void MBSimFlexibleBody::FlexibleBody1s33RCM::updatePositions ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

◆ updateVelocities()

void MBSimFlexibleBody::FlexibleBody1s33RCM::updateVelocities ( Frame1s * frame )

overridevirtual

Reimplemented from MBSimFlexibleBody::FlexibleBody1s.

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBody1s33RCM()

Member Function Documentation

◆ BuildElement()

◆ BuildElements()

◆ computePhysicalStrain()

◆ exportPositionVelocity()

◆ getAngles()

◆ getPositions()

◆ getVelocities()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ importPositionVelocity()

◆ initInfo()

◆ updateAccelerations()

◆ updateGyroscopicAccelerations()

◆ updateJacobians()

◆ updatePositions()

◆ updateVelocities()