Linear models from external preprocessing, e.g. Finite Element model. More...

#include <linear_external.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBodyLinearExternal:

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

virtual	~FlexibleBodyLinearExternal ()
	destructor

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

virtual void	facLLM ()

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

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

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

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

virtual void	updateKinematicsForFrame (MBSim::ContourPointData &cp, MBSim::Frame::Feature ff, MBSim::Frame *frame=0)

virtual void	updateJacobiansForFrame (MBSim::ContourPointData &data, MBSim::Frame *frame=0)

void	readMassMatrix (const std::string &massfilename)

void	setMassMatrix (const fmatvec::SymMat &mat)

void	readStiffnessMatrix (const std::string &stiffnessfilename)

void	setStiffnessMatrix (const fmatvec::SqrMat &mat)

void	setProportionalDamping (const double &a, const double &b)

void	setWrON00 (const fmatvec::Vec &WrON00_)

fmatvec::Mat	computeJacobianMatrix (const MBSim::ContourPointData &CP)

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
void	updateStateDependentVariables (double t)

void	updateContours (double t)

MBSim::ContourPointData	addInterface (const std::string &jacbifilename)

MBSim::ContourPointData	addInterface (const fmatvec::Mat &J, const fmatvec::Vec &r)

void	updateJh_internal (double t)

Protected Attributes
int	nContours

std::vector< MBSim::ContourPointData >	contourType

fmatvec::Vec	WrON00

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

Linear models from external preprocessing, e.g. Finite Element model.

Author: Roland Zander

Date: 2009-03-26 initial kernel_dev commit (Roland Zander); 2009-04-05 minor change: parent class is not template class (Schindler / Zander); 2009-07-23 implicit integration (Thorsten Schindler)

Systems equation of motion:

\[ \vM{\rm d}\vu = -( \vK \vq + \vD \vu){\rm d}t - \vW{\rm d}\vLambda \]

with CONSTANT matrices \(\vM,\vK,\vD\). The model uses n degrees of freedom (dimension of \(\vq,\vu\)) and d translational directions (dimension of Jacobi-matrizes \(n\times d\))

Constructor & Destructor Documentation

◆ FlexibleBodyLinearExternal()

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

constructor

Parameters

name of body

Member Function Documentation

◆ addInterface() [1/2]

MBSim::ContourPointData MBSimFlexibleBody::FlexibleBodyLinearExternal::addInterface	(	const fmatvec::Mat &	J,
		const fmatvec::Vec &	r
	)

protected

create interface in form of ContourPointData based on Jacobian matrix and undeformed position

Returns: cpData for refering to Port or Contour added

Parameters

J	Jacobian matrix
r	undeformed position in body coordinate system

◆ addInterface() [2/2]

MBSim::ContourPointData MBSimFlexibleBody::FlexibleBodyLinearExternal::addInterface ( const std::string & jacbifilename )

protected

create interface in form of ContourPointData based on file

Returns: cpData for refering to Port or Contour added

Parameters

jacbifilename file containing interface data

◆ BuildElements()

virtual void MBSimFlexibleBody::FlexibleBodyLinearExternal::BuildElements ( )

inlinevirtual

references finite element coordinates to assembled coordinates

Implements MBSimFlexibleBody::FlexibleBody.

◆ GlobalMatrixContribution() [1/2]

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

virtual

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::FlexibleBodyLinearExternal::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::FlexibleBodyLinearExternal::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.

◆ readMassMatrix()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::readMassMatrix ( const std::string & massfilename )

read mass matrix: style e.g. for 2*2 matrix
n x n
[1.0 0.0
0.0 1.0]

Parameters

massfilename name of file holding mass matrix

◆ readStiffnessMatrix()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::readStiffnessMatrix ( const std::string & stiffnessfilename )

read stiffness matrix form given file readMassMatrix(const std::string &massfilename)

Parameters

stiffnessfilename name of file holding stiffness matrix

◆ setMassMatrix()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::setMassMatrix ( const fmatvec::SymMat & mat )

set mass matrix:

Parameters

mat	mass matrix

◆ setProportionalDamping()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::setProportionalDamping	(	const double &	a,
		const double &	b
	)

set damping \(\vD\) proportional to mass and stiffness

\[ \vD = \alpha * \vM + \beta*\vK \]

Parameters

a_	\(\alpha\)
b_	\(\beta \)

◆ setStiffnessMatrix()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::setStiffnessMatrix ( const fmatvec::SqrMat & mat )

read stiffness matrix

Parameters

mat	stiffness matrix

◆ setWrON00()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::setWrON00 ( const fmatvec::Vec & WrON00_ )

inline

plot parameters of "BodyFlexibleLinearExternal" ‍/ void plotParameters();

  using FlexibleBody::addFrame;
  /*!
     add Port using JACOBIAN matrix and frame location form given file
     n x d   \n   [1.0  \n  0.0 ] \n
     \n
     d x 1   \n   [1.0  \n  0.0   \n  0.0 ]
     \param name name of Port create
     \param jacobifilename name of file holding matrices

add Port using JACOBIAN matrix and location of reference point

Parameters

name	of Port to
J	Jacobian matrix create
r	undeformed reference point in body coordinate system

add Contour using information given in file for JACOBIAN matrix and location of reference point

Parameters

contour	Contour to add
jacobifilename	name of file holding matrices

add Contour using JACOBIAN matrix and location of reference point

Parameters

contour	Contour to add
J	Jacobian matrix
r	undeformed reference point in body coordinate system

add a ContourInterpolation, no additional information needed

set origin BodyFlexibleLinearExternal::WrON00, \(_W \vr_{K0}\) of model

◆ updateContours()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::updateContours ( double t )

protected

Kinematical update of postition and velocities of every Contour:

\[ \vr_{C} = \vr_{K} + \vJ_T(\vr_{P0} + \vW^T\vq) \]

Parameters

t time

Todo:: angular kinematics

◆ updateKinematicsForFrame()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::updateKinematicsForFrame	(	MBSim::ContourPointData &	cp,
		MBSim::Frame::Feature	ff,
		MBSim::Frame *	frame = `0`
	)

virtual

Kinematical update of postition and velocities of every attached Frame:

\[ \vr_{P} = \vr_{K} + \vJ_T(\vr_{P0} + \vW^T\vq) \]

Parameters

t time

Todo:: angular kinematics

◆ updateStateDependentVariables()

void MBSimFlexibleBody::FlexibleBodyLinearExternal::updateStateDependentVariables ( double t )

protected

update kinematical values
Call to updateFrames(double t) and updateContours(double t)

Parameters

t time

Member Data Documentation

◆ contourType

std::vector<MBSim::ContourPointData> MBSimFlexibleBody::FlexibleBodyLinearExternal::contourType

protected

vector of ContourPointData controlling type of interface: node/interpolation

◆ nContours

int MBSimFlexibleBody::FlexibleBodyLinearExternal::nContours

protected

number of Contours directly asoziated to body

◆ WrON00

fmatvec::Vec MBSimFlexibleBody::FlexibleBodyLinearExternal::WrON00

protected

origin \(_W \vr_{K0}\) of model

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBodyLinearExternal()

Member Function Documentation

◆ addInterface() [1/2]

◆ addInterface() [2/2]

◆ BuildElements()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ readMassMatrix()

◆ readStiffnessMatrix()

◆ setMassMatrix()

◆ setProportionalDamping()

◆ setStiffnessMatrix()

◆ setWrON00()

◆ updateContours()

◆ updateKinematicsForFrame()

◆ updateStateDependentVariables()

Member Data Documentation

◆ contourType

◆ nContours

◆ WrON00