flexible body model based on floating frame reference using the system information external linear FEM code More...

#include <linear_external_ffr.h>

Inheritance diagram for MBSimFlexibleBody::FlexibleBodyLinearExternalFFR:

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

	~FlexibleBodyLinearExternalFFR () override=default
	destructor

virtual int	getNumberElements () const

virtual double	getLength () const

virtual bool	isOpenStructure () const

void	updateM () override

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

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

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

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

void	updateh (int k=0) override

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

void	calcqSize () override

void	calcuSize (int j) override

void	setNumberOfModes (int nf_)

int	getNumberModes () const

MBSim::Frame *	getFloatingFrameOfReference ()

const fmatvec::Vec3	getModeShapeVector (int node, int column) const

void	readFEMData (const std::string &inFilePath, const bool millimeterUnits, bool output=false)
	read u0, mij, mode shape matrix and stiffness matrix form the input file

void	enableFramePlot (double size=1e-3, fmatvec::VecInt numbers=fmatvec::VecInt(0))

void	resetUpToDate () override

const fmatvec::SqrMat3 &	evalA ()

const fmatvec::SqrMat3 &	evalG_bar ()

const fmatvec::SqrMat3 &	evalG_bar_Dot ()

const fmatvec::Vec &	evalQv ()

void	updatePositions (MBSim::Frame *frame) override

void	updateVelocities (MBSim::Frame *frame) override

void	updateAccelerations (MBSim::Frame *frame) override

void	updateJacobians (MBSim::Frame *frame, int j=0) override

void	updateGyroscopicAccelerations (MBSim::Frame *frame) override

void	updatePositions (int nodeIndex) override

void	updateVelocities (int nodeIndex) override

void	updateAccelerations (int nodeIndex) override

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

void	updateGyroscopicAccelerations (int nodeIndex) override

fmatvec::Vec3	evalLocalPosition (int i)

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

void	setContourNodes (const std::vector< fmatvec::Vec > nodes)

void	setNodeOffset (const fmatvec::Vec nodeOffset_)

fmatvec::Vec	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
void	initM ()
	initialize the mass matrix

void	initQv ()
	initialize the quadratic velocity vector

void	updateQv ()
	update the quadratic velocity vector

void	computeShapeIntegrals ()
	compute the constant shape integrals of the whole body

void	updateAGbarGbardot ()
	update A, G_bar, and G_bar_Dot

Protected Attributes
int	nNodes
	total number of nodes

MBSim::Frame *	FFR
	Floating Frame of Reference.

fmatvec::Vec3	I_1
	matrix for the computation of the mass-matrix (assembled part of the element matrix)

fmatvec::SymMat3	I_kl
	matrix

fmatvec::Mat	S_bar
	matrix for the computation of the mass-matrix (assembled part of the element matrix)

fmatvec::SqrMat	S_kl_bar [3][3]
	matrix for the computation of the mass-matrix (assembled part of the element matrix)

fmatvec::RowVec	I_kl_bar [3][3]
	matrix for the computation of the mass-matrix (assembled part of the element matrix)

fmatvec::SymMat3	I_ThetaTheta_bar
	inertia tensor

fmatvec::Mat	I_ThetaF_bar
	I_ThetaF 3*nf.

fmatvec::SymMat	K
	stiffness matrix

fmatvec::SymMat	KFull
	full stiffness matrix

fmatvec::SqrMat3	G_bar
	transformation matrix of the time derivates of the angles into tho angular velocity in reference coordinates

fmatvec::SqrMat3	G_bar_Dot
	transformation matrix of the time derivates of the angles into tho angular velocity in reference coordinates

fmatvec::SqrMat3	A
	transformation matrix of coordinates of the moving frame of reference into the reference frame

double	M_RR {0}

fmatvec::SymMat	M_FF
	matrix for the computation of the mass-matrix (assembled part of the element matrix)

fmatvec::Vec	Qv
	quadratic velocity vector

fmatvec::Vec	mij
	lumped mass for each node

fmatvec::Mat	phiFull
	matrix of all modes

fmatvec::Mat	phi
	matrix of modes used

std::vector< fmatvec::Vec3 >	u0
	initial position of each node

int	nf
	number of mode shapes used to describe the deformation

bool	openStructure
	open or closed beam structure

bool	updAG

bool	updQv

Protected Attributes inherited from MBSimFlexibleBody::FlexibleBodyContinuum< fmatvec::Vec >
std::vector< fmatvec::Vec >	userContourNodes
	grid for contact point detection

fmatvec::Vec	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 model based on floating frame reference using the system information external linear FEM code

Author: Kilian Grundl; Zhan Wang

Date

Constructor & Destructor Documentation

◆ FlexibleBodyLinearExternalFFR()

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

constructor

Parameters

name of body

Member Function Documentation

◆ BuildElements()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::BuildElements ( )

overridevirtual

references finite element coordinates to assembled coordinates

Implements MBSimFlexibleBody::FlexibleBody.

◆ GlobalMatrixContribution() [1/2]

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::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::FlexibleBodyLinearExternalFFR::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::FlexibleBodyLinearExternalFFR::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.

◆ updateAccelerations()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::updateAccelerations ( int nodeIndex )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateGyroscopicAccelerations()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::updateGyroscopicAccelerations ( int nodeIndex )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateJacobians()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::updateJacobians	(	int	nodeIndex,
		int	j = `0`
	)

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updatePositions()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::updatePositions ( int nodeIndex )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateVelocities()

void MBSimFlexibleBody::FlexibleBodyLinearExternalFFR::updateVelocities ( int nodeIndex )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlexibleBodyLinearExternalFFR()

Member Function Documentation

◆ BuildElements()

◆ GlobalMatrixContribution() [1/2]

◆ GlobalMatrixContribution() [2/2]

◆ GlobalVectorContribution()

◆ updateAccelerations()

◆ updateGyroscopicAccelerations()

◆ updateJacobians()

◆ updatePositions()

◆ updateVelocities()