Generic flexible body using a floating frame of reference formulation. More...

#include <generic_flexible_ffr_body.h>

Inheritance diagram for MBSimFlexibleBody::GenericFlexibleFfrBody:

Public Types
enum	GeneralizedVelocityOfRotation { derivativeOfGeneralizedPositionOfRotation =0 , coordinatesOfAngularVelocityWrtFrameOfReference , coordinatesOfAngularVelocityWrtFrameForKinematics , unknown }

Public Types inherited from MBSim::Element
enum	InitStage

Public Member Functions
	GenericFlexibleFfrBody (const std::string &name="")

	~GenericFlexibleFfrBody () override
	destructor

void	updateqd () override

void	updateT () override

void	updateh (int j=0) override

void	updateM () override

void	updateGeneralizedPositions () override

void	updateGeneralizedVelocities () override

void	updateDerivativeOfGeneralizedPositions () override

void	updateGeneralizedAccelerations () override

void	updatePositions ()

void	updateVelocities ()

void	updateAccelerations ()

void	updateJacobians () override

void	updateGyroscopicAccelerations ()

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	updateJacobians0 (MBSim::Frame *frame)

void	updateJacobians1 (MBSim::Frame *frame)

void	updateMb ()

void	updateKJ (int j=0)

void	updateKJ0 ()

void	updateKJ1 ()

void	calcSize () override

void	calcqSize () override

void	calcuSize (int j=0) override

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

void	setUpInverseKinetics () override

void	plot () override

int	getNumberOfModeShapes ()

void	setGeneralTranslation (MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_)
	set Kinematic for genral translational motion More...

void	setTimeDependentTranslation (MBSim::Function< fmatvec::Vec3(double)> *fPrPK_)
	set Kinematic for only time dependent translational motion More...

void	setStateDependentTranslation (MBSim::Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_)
	set Kinematic for only state dependent translational motion More...

void	setTranslation (MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> *fPrPK_)

void	setTranslation (MBSim::Function< fmatvec::Vec3(double)> *fPrPK_)

void	setTranslation (MBSim::Function< fmatvec::Vec3(fmatvec::VecV)> *fPrPK_)

void	setGeneralRotation (MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_)
	set Kinematic for general rotational motion More...

void	setTimeDependentRotation (MBSim::Function< fmatvec::RotMat3(double)> *fAPK_)
	set Kinematic for only time dependent rotational motion More...

void	setStateDependentRotation (MBSim::Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_)
	set Kinematic for only state dependent rotational motion More...

void	setRotation (MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> *fAPK_)

void	setRotation (MBSim::Function< fmatvec::RotMat3(double)> *fAPK_)

void	setRotation (MBSim::Function< fmatvec::RotMat3(fmatvec::VecV)> *fAPK_)

void	setTranslationDependentRotation (bool dep)

void	setGeneralizedVelocityOfRotation (GeneralizedVelocityOfRotation generalizedVelocityOfRotation_)

MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> *	getTranslation ()
	get Kinematic for translational motion More...

MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> *	getRotation ()
	get Kinematic for rotational motion More...

MBSim::Frame *	getFrameK ()

const fmatvec::Vec3 &	getNodalRelativePosition (int i) const

const fmatvec::SqrMat3 &	getNodalRelativeOrientation (int i) const

const fmatvec::Mat3xV &	getNodalShapeMatrixOfTranslation (int i) const

const fmatvec::Mat3xV &	getNodalShapeMatrixOfRotation (int i) const

void	initializeUsingXML (xercesc::DOMElement *element) override

void	setqRel (const fmatvec::VecV &q)

void	setuRel (const fmatvec::VecV &u)

bool	transformCoordinates () const

void	resetUpToDate () override

const fmatvec::VecV &	evalqTRel ()

const fmatvec::VecV &	evalqRRel ()

const fmatvec::VecV &	evalqERel ()

const fmatvec::VecV &	evaluTRel ()

const fmatvec::VecV &	evaluRRel ()

const fmatvec::VecV &	evaluERel ()

const fmatvec::VecV &	evalqdTRel ()

const fmatvec::VecV &	evalqdRRel ()

const fmatvec::VecV &	evalqdERel ()

const fmatvec::VecV &	evaludERel ()

const fmatvec::Vec3 &	evalGlobalRelativePosition ()

const fmatvec::Vec3 &	evalGlobalRelativeVelocity ()

const fmatvec::Vec3 &	evalGlobalRelativeAngularVelocity ()

const fmatvec::Mat3xV &	evalPJTT ()

const fmatvec::Mat3xV &	evalPJRR ()

const fmatvec::Vec3 &	evalPjhT ()

const fmatvec::Vec3 &	evalPjhR ()

const fmatvec::Vec3 &	evalPjbT ()

const fmatvec::Vec3 &	evalPjbR ()

const fmatvec::SymMatV &	evalMb ()

const fmatvec::VecV &	evalhb ()

const fmatvec::MatV &	evalKJ (int j=0)

const fmatvec::VecV &	evalKi ()

const fmatvec::Vec3 &	evalGlobalRelativePosition (int i)

const fmatvec::Vec3 &	evalGlobalRelativeAngularVelocity (int i)

fmatvec::Vec3 &	getGlobalRelativeVelocity (bool check=true)

fmatvec::SqrMat3 &	getRelativeOrientation (bool check=true)

fmatvec::Vec3 &	getPjbT (bool check=true)

fmatvec::Vec3 &	getPjbR (bool check=true)

fmatvec::VecV &	getqTRel (bool check=true)

fmatvec::VecV &	getqRRel (bool check=true)

fmatvec::VecV &	getqERel (bool check=true)

fmatvec::VecV &	getuTRel (bool check=true)

fmatvec::VecV &	getuRRel (bool check=true)

fmatvec::VecV &	getuERel (bool check=true)

fmatvec::VecV &	getqdTRel (bool check=true)

fmatvec::VecV &	getqdRRel (bool check=true)

fmatvec::VecV &	getqdERel (bool check=true)

fmatvec::VecV &	getudERel (bool check=true)

fmatvec::Vec3 &	getNodalRelativeVelocity (int i, bool check=true)

void	updateStresses (int i) override

void	updatePositions (int i) override

void	updateVelocities (int i) override

void	updateAccelerations (int i) override

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

void	updateGyroscopicAccelerations (int i) 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 ()

Static Public Member Functions
template<class T >
static std::vector< T >	getCellArray1D (xercesc::DOMElement *element)

template<class T >
static std::vector< T >	getCellArray1D (int m, const typename BaseType< T >::type &A)

template<class T >
static std::vector< std::vector< T > >	getCellArray2D (xercesc::DOMElement *element)

template<class T >
static std::vector< std::vector< T > >	getCellArray2D (int m, int N, const typename BaseType< T >::type &A)

Public Attributes
void(GenericFlexibleFfrBody::*	updateKJ_ [2])()

Public Attributes inherited from MBSim::Element
	resolveStringRef

	preInit

	plotting

	unknownStage

Protected Member Functions
void	assemble ()

void	prefillMassMatrix ()

Protected Attributes
double	m {0}

fmatvec::Vec3	rdm

fmatvec::SymMat3	rrdm

fmatvec::SymMat3	mmi0

fmatvec::Mat3xV	Pdm

std::vector< std::vector< fmatvec::SqrMatV > >	PPdm

std::vector< std::vector< fmatvec::SqrMatV > >	Knl2

std::vector< std::vector< fmatvec::SqrMatV > >	Ke2

std::vector< fmatvec::Mat3xV >	rPdm

std::vector< std::vector< fmatvec::SqrMat3 > >	mmi2

std::vector< std::vector< fmatvec::SqrMat3 > >	Gr1

std::vector< fmatvec::SqrMatV >	Knl1

std::vector< fmatvec::SqrMatV >	K0t

std::vector< fmatvec::SqrMatV >	K0r

std::vector< fmatvec::SqrMatV >	K0om

std::vector< fmatvec::SqrMatV >	Ct1

std::vector< fmatvec::SqrMatV >	Cr1

std::vector< fmatvec::SqrMatV >	Ge

std::vector< fmatvec::SqrMatV >	Oe1

std::vector< fmatvec::SqrMatV >	Ke1

std::vector< fmatvec::SqrMatV >	De1

fmatvec::VecV	ksigma0

fmatvec::SqrMatV	ksigma1

std::vector< fmatvec::SymMat3 >	mmi1

fmatvec::MatVx3	Ct0

fmatvec::MatVx3	Cr0

fmatvec::SymMatV	Me

fmatvec::SymMatV	Ke0

fmatvec::SymMatV	De0

std::vector< fmatvec::SqrMat3 >	Gr0

fmatvec::Matrix< fmatvec::General, fmatvec::Var, fmatvec::Fixed< 6 >, double >	Oe0

std::vector< fmatvec::Vec3 >	KrKP

std::vector< fmatvec::Vec3 >	WrRP

std::vector< fmatvec::Vec3 >	Wvrel

std::vector< fmatvec::Vec3 >	Womrel

std::vector< fmatvec::SqrMat3 >	ARP

std::vector< fmatvec::Mat3xV >	Phi

std::vector< fmatvec::Mat3xV >	Psi

std::vector< std::vector< fmatvec::SqrMatV > >	K0F

std::vector< std::vector< fmatvec::SqrMatV > >	K0M

std::vector< fmatvec::Vector< fmatvec::Fixed< 6 >, double > >	sigma0

std::vector< fmatvec::Matrix< fmatvec::General, fmatvec::Fixed< 6 >, fmatvec::Var, double > >	sigmahel

std::vector< std::vector< fmatvec::Matrix< fmatvec::General, fmatvec::Fixed< 6 >, fmatvec::Var, double > > >	sigmahen

int	ne {0}

MBSim::Frame *	K

fmatvec::Vec3	PjhT

fmatvec::Vec3	PjhR

fmatvec::Vec3	PjbT

fmatvec::Vec3	PjbR

fmatvec::SqrMat3	APK
	rotation matrix from kinematic Frame to parent Frame

fmatvec::Vec3	PrPK
	translation from parent to kinematic Frame in parent and world system

fmatvec::Vec3	WrPK

fmatvec::Vec3	WvPKrel
	translational and angular velocity from parent to kinematic Frame in world system

fmatvec::Vec3	WomPK

MBSim::Function< fmatvec::MatV(fmatvec::VecV)> *	fTR {nullptr}

MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> *	fPrPK {nullptr}
	translation from parent Frame to kinematic Frame in parent system

MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> *	fAPK {nullptr}
	rotation from kinematic Frame to parent Frame

void(GenericFlexibleFfrBody::*	updateJacobians_ [2])(MBSim::Frame *frame)

fmatvec::Vec	aT

fmatvec::Vec	aR

fmatvec::VecV	qTRel

fmatvec::VecV	qRRel

fmatvec::VecV	qERel

fmatvec::VecV	uTRel

fmatvec::VecV	uRRel

fmatvec::VecV	uERel

fmatvec::VecV	qdTRel

fmatvec::VecV	qdRRel

fmatvec::VecV	qdERel

fmatvec::VecV	udERel

fmatvec::Mat3xV	WJTrel

fmatvec::Mat3xV	WJRrel

fmatvec::Mat3xV	PJTT

fmatvec::Mat3xV	PJRR

MBSim::Frame *	frameForJacobianOfRotation {nullptr}

fmatvec::Range< fmatvec::Var, fmatvec::Var >	i02

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iqT

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iqR

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iqE

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iuT

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iuR

fmatvec::Range< fmatvec::Var, fmatvec::Var >	iuE

bool	translationDependentRotation {false}

bool	constJT {false}

bool	constJR {false}

bool	constjT {false}

bool	constjR {false}

bool	updPjb {true}

bool	updGC {true}

bool	updMb {true}

bool	updKJ [2]

fmatvec::SymMatV	M_

fmatvec::VecV	h_

fmatvec::MatV	KJ [2]

fmatvec::VecV	Ki

GeneralizedVelocityOfRotation	generalizedVelocityOfRotation {derivativeOfGeneralizedPositionOfRotation}

OpenMBVFlexibleBody::ColorRepresentation	ombvColorRepresentation {OpenMBVFlexibleBody::none}

std::vector< int >	plotNodes

std::vector< int >	visuNodes

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

Private Member Functions
double	evalNone (int i)

double	evalXDisplacement (int i)

double	evalYDisplacement (int i)

double	evalZDisplacement (int i)

double	evalTotalDisplacement (int i)

double	evalXXStress (int i)

double	evalYYStress (int i)

double	evalZZStress (int i)

double	evalXYStress (int i)

double	evalYZStress (int i)

double	evalZXStress (int i)

double	evalEquivalentStress (int i)

Private Attributes
double(GenericFlexibleFfrBody::*	evalOMBVColorRepresentation [12])(int i)

Detailed Description

Generic flexible body using a floating frame of reference formulation.

Member Function Documentation

◆ addFrame()

void MBSimFlexibleBody::NodeBasedBody::addFrame ( NodeBasedFrame * frame )

Parameters

node frame

◆ getRotation()

MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> * MBSimFlexibleBody::GenericFlexibleFfrBody::getRotation ( )

inline

get Kinematic for rotational motion

Returns: rotational kinematic description

◆ getTranslation()

MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> * MBSimFlexibleBody::GenericFlexibleFfrBody::getTranslation ( )

inline

get Kinematic for translational motion

Returns: translational kinematic description

◆ plot()

void MBSimFlexibleBody::GenericFlexibleFfrBody::plot ( )

overridevirtual

Reimplemented from MBSim::Body.

◆ setGeneralRotation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setGeneralRotation ( MBSim::Function< fmatvec::RotMat3(fmatvec::VecV, double)> * fAPK_ )

inline

set Kinematic for general rotational motion

Parameters

fAPK	rotational kinematic description

◆ setGeneralTranslation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setGeneralTranslation ( MBSim::Function< fmatvec::Vec3(fmatvec::VecV, double)> * fPrPK_ )

inline

set Kinematic for genral translational motion

Parameters

fPrPK translational kinematic description

◆ setStateDependentRotation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setStateDependentRotation ( MBSim::Function< fmatvec::RotMat3(fmatvec::VecV)> * fAPK_ )

inline

set Kinematic for only state dependent rotational motion

Parameters

fAPK	rotational kinematic description

◆ setStateDependentTranslation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setStateDependentTranslation ( MBSim::Function< fmatvec::Vec3(fmatvec::VecV)> * fPrPK_ )

inline

set Kinematic for only state dependent translational motion

Parameters

fPrPK translational kinematic description

◆ setTimeDependentRotation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setTimeDependentRotation ( MBSim::Function< fmatvec::RotMat3(double)> * fAPK_ )

inline

set Kinematic for only time dependent rotational motion

Parameters

fAPK	rotational kinematic description

◆ setTimeDependentTranslation()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setTimeDependentTranslation ( MBSim::Function< fmatvec::Vec3(double)> * fPrPK_ )

inline

set Kinematic for only time dependent translational motion

Parameters

fPrPK translational kinematic description

◆ setUpInverseKinetics()

void MBSimFlexibleBody::GenericFlexibleFfrBody::setUpInverseKinetics ( )

overridevirtual

Reimplemented from MBSim::Object.

◆ updateAccelerations()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updateAccelerations ( int i )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateGyroscopicAccelerations()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updateGyroscopicAccelerations ( int i )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateJacobians()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updateJacobians	(	int	i,
		int	j = `0`
	)

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updatePositions()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updatePositions ( int i )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateStresses()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updateStresses ( int i )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

◆ updateVelocities()

void MBSimFlexibleBody::GenericFlexibleFfrBody::updateVelocities ( int i )

overridevirtual

Reimplemented from MBSimFlexibleBody::NodeBasedBody.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ addFrame()

◆ getRotation()

◆ getTranslation()

◆ plot()

◆ setGeneralRotation()

◆ setGeneralTranslation()

◆ setStateDependentRotation()

◆ setStateDependentTranslation()

◆ setTimeDependentRotation()

◆ setTimeDependentTranslation()

◆ setUpInverseKinetics()

◆ updateAccelerations()

◆ updateGyroscopicAccelerations()

◆ updateJacobians()

◆ updatePositions()

◆ updateStresses()

◆ updateVelocities()