contour 1s flexible with NURBS parametrization More...

#include <nurbs_curve_1s.h>

Inheritance diagram for MBSimFlexibleBody::NurbsCurve1s:

Public Member Functions
	NurbsCurve1s (const std::string &name)
	constructor More...

	~NurbsCurve1s () override=default
	destructor

virtual void	computeRootFunctionPosition (MBSim::ContourFrame *frame)

virtual void	computeRootFunctionFirstTangent (MBSim::ContourFrame *frame)

virtual void	computeRootFunctionNormal (MBSim::ContourFrame *frame)

virtual void	computeRootFunctionSecondTangent (MBSim::ContourFrame *frame)

MBSim::ContactKinematics *	findContactPairingWith (const std::type_info &type0, const std::type_info &type1) override

void	setNormalRotationGrid (const fmatvec::Vec &normal_)

void	initContourFromBody (InitStage stage)
	initialize NURBS curve More...

void	computeCurveTranslations (bool update=false)
	interpolates the translations with node-data from body

void	computeCurveVelocities (bool update=false)
	interpolates the velocities with the node-data from the body

void	computeCurveAngularVelocities (bool update=false)
	interpolates the angular velocities with the node-data from the body

void	computeCurveJacobians (bool trans=true, bool rot=true, bool update=false)
	interpolates the Jacobians of translation with the node-data from the body More...

Public Member Functions inherited from MBSimFlexibleBody::Contour1s
	Contour1s (const std::string &name)
	constructor More...

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

void	plot () override

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

std::shared_ptr< OpenMBV::SpineExtrusion > &	getOpenMBVSpineExtrusion ()

Public Member Functions inherited from MBSim::Contour
	Contour (const std::string &name)

virtual ContactKinematics *	findContactPairingWith (const std::type_info &type0, const std::type_info &type1)=0

virtual fmatvec::Vec3	evalPosition (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wn (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wu (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer1Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalParDer2Wv (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWs (const fmatvec::Vec2 &zeta)

virtual fmatvec::Vec3	evalWt (const fmatvec::Vec2 &zeta)

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 Attributes
int	Elements
	number of elements

int	qSize
	number of DOFs

bool	openStructure
	open or closed beam structure

double	L
	length of entire curve

int	degU
	interpolation degree

MBSim::NurbsCurve	curveTranslations
	interpolated translations of the contour

MBSim::NurbsCurve	curveVelocities
	interpolated velocities of the contour

MBSim::NurbsCurve	curveAngularVelocities
	interpolated angular velocities of the contour

fmatvec::Vec3	normalRotationGrid
	closest normal on rotation grid to update direction of normal of nurbs-curve and to avoid jumping

std::vector< MBSim::NurbsCurve >	CurveJacobiansOfTranslation
	interpolated Jacobians of Translation of the contour

std::vector< MBSim::NurbsCurve >	CurveJacobiansOfRotation
	interpolated Jacobians of Rotation on the contour

Protected Attributes inherited from MBSimFlexibleBody::Contour1s
std::shared_ptr< OpenMBV::SpineExtrusion >	openMBVSpineExtrusion
	body for the spine extrusion for visualisation of the 1s-body

Protected Attributes inherited from MBSim::Contour
int	hSize [2]

double	thickness

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

contour 1s flexible with NURBS parametrization

Author: Thorsten Schindler; Kilian Grundl

Date: 2011-10-16 initial commit (Thorsten Schindler); 2012-03-15 updateKinematicsForFrame and contact Jacobians (Cebulla / Schindler); 2013-02-04 contour now for 2D and 3D Cosserat beam (Zitzewitz / Cebulla / Schindler); 2013-08-19 using self implemented nurbs-curve

Constructor & Destructor Documentation

◆ NurbsCurve1s()

MBSimFlexibleBody::NurbsCurve1s::NurbsCurve1s ( const std::string & name )

inline

constructor

Parameters

name	of contour

Member Function Documentation

◆ computeCurveJacobians()

void MBSimFlexibleBody::NurbsCurve1s::computeCurveJacobians	(	bool	trans = `true`,
		bool	rot = `true`,
		bool	update = `false`
	)

interpolates the Jacobians of translation with the node-data from the body

Parameters

interpolate	translational jacobian
interpolate	rotational jacobian

◆ findContactPairingWith()

ContactKinematics * MBSimFlexibleBody::NurbsCurve1s::findContactPairingWith	(	const std::type_info &	type0,
		const std::type_info &	type1
	)

overridevirtual

Implements MBSim::Contour.

◆ initContourFromBody()

void MBSimFlexibleBody::NurbsCurve1s::initContourFromBody ( InitStage stage )

initialize NURBS curve

Parameters

stage of initialisation

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_curve_1s.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_curve_1s.cc

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NurbsCurve1s()

Member Function Documentation

◆ computeCurveJacobians()

◆ findContactPairingWith()

◆ initContourFromBody()