2s flexible More...

#include <nurbs_disk_2s.h>

Inheritance diagram for MBSimFlexibleBody::NurbsDisk2s:

Public Member Functions
	NurbsDisk2s (const std::string &name)
	constructor More...

	~NurbsDisk2s () override
	destructor

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

MBSim::ContourFrame *	createContourFrame (const std::string &name="P") override

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

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

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

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

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

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

bool	isZetaOutside (const fmatvec::Vec2 &zeta) override

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

fmatvec::Vec3	evalPosition ()

fmatvec::SqrMat3	evalOrientation ()

void	plot () override

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

	BOOST_PARAMETER_MEMBER_FUNCTION ((void), enableOpenMBV, MBSim::tag,(optional(diffuseColor,(const fmatvec::Vec3 &),"[-1;1;1]")(transparency,(double), 0)))

fmatvec::Vec	transformCW (const fmatvec::Vec &WrPoint)
	transformation cartesian to cylinder system More...

fmatvec::Mat	computeDirectionalDerivatives (const double &radius, const double &phi, const int &deg)

fmatvec::Mat	computeCurvatures (const double &radius, const double &phi)

void	computeUVector (const int NbPts)
	computes the U vector of the surface for a closed interpolation More...

void	computeVVector (const int NbPts)
	computes the V-vector of the surface for an open interpolation More...

void	computeSurface ()
	interpolates the surface with node-data from body

void	computeSurfaceVelocities ()
	interpolates the velocities of the surface with the node-data from the body

void	computeSurfaceJacobians ()
	interpolates the Jacobians of translation of the surface with the node-data from the body

fmatvec::Vec	getControlPoints (const int u, const int v)

fmatvec::Vec	getUVector ()

fmatvec::Vec	getVVector ()

int	testInsideBounds (const fmatvec::Vec &s)

double	computeError (const fmatvec::Vec &Vec1, const fmatvec::Vec &Vec2)

Public Member Functions inherited from MBSimFlexibleBody::Contour2s
	Contour2s (const std::string &name)
	constructor More...

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	RefDofs
	number of reference dofs of the flexible body

int	nj
	number of elements in azimuthal and radial direction

int	nr

int	degU
	interpolation degree azimuthal and radial

int	degV

double	Ri
	inner and outer radius

double	Ra

std::shared_ptr< OpenMBV::NurbsDisk >	openMBVNurbsDisk

double	drawDegree

PlNurbsSurfaced *	Surface
	interpolated surface of the contour

PlNurbsSurfaced *	SurfaceVelocities
	interpolated velocities of the surface-points

std::vector< PlNurbsSurfaced >	SurfaceJacobiansOfTranslation
	interpolated Jacobians of Translation on the surface

std::vector< PlNurbsSurfaced >	SurfaceJacobiansOfRotation
	interpolated Jacobians of Rotation on the surface

PLib::Vector< double > *	uvec
	knot vectors, used for the U und V coordinates of the surface

PLib::Vector< double > *	uVec

PLib::Vector< double > *	vvec

PLib::Vector< double > *	vVec

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

2s flexible

Author: Kilian Grundl; Raphael Missel; Thorsten Schindler

Date: 2009-05-22 initial commit (Grundl / Missel / Schindler); 2009-06-04 separate contour files (Thorsten Schindler); 2009-08-16 contour / visualisation (Grundl / Missel / Schindler); 2010-04-21 flexible disks with parent (Grundl / Schindler)

Todo:

computeSurfaceJacobians / computeSurfaceVelocities only in contact case TODO

angularVelocity TODO

flexible body should only parametrise midplane -> other surfaces in contour TODO

Constructor & Destructor Documentation

◆ NurbsDisk2s()

MBSimFlexibleBody::NurbsDisk2s::NurbsDisk2s ( const std::string & name )

constructor

Parameters

name	of contour

Member Function Documentation

◆ computeCurvatures()

Mat MBSimFlexibleBody::NurbsDisk2s::computeCurvatures	(	const double &	radius,
		const double &	phi
	)

Returns: curvature on the surface: (first column: radial direction / second column: azimuthal-direction)

Parameters

radial	location
azimuthal	location

◆ computeDirectionalDerivatives()

Mat MBSimFlexibleBody::NurbsDisk2s::computeDirectionalDerivatives	(	const double &	radius,
		const double &	phi,
		const int &	deg
	)

Returns: derivates of the surface: (first column: deg-th derivative in radial direction / second column: deg-th derivative in azimuthal-direction)

Parameters

radial	location
azimuthal	location
order	of derivative

◆ computeError()

double MBSimFlexibleBody::NurbsDisk2s::computeError	(	const fmatvec::Vec &	Vec1,
		const fmatvec::Vec &	Vec2
	)

Returns: norm of the difference between two vectors

Parameters

first	vector
second	vector

◆ computeUVector()

void MBSimFlexibleBody::NurbsDisk2s::computeUVector ( const int NbPts )

computes the U vector of the surface for a closed interpolation

Parameters

◆ computeVVector()

void MBSimFlexibleBody::NurbsDisk2s::computeVVector ( const int NbPts )

computes the V-vector of the surface for an open interpolation

Parameters

◆ evalPosition()

fmatvec::Vec3 MBSimFlexibleBody::NurbsDisk2s::evalPosition ( const fmatvec::Vec2 & zeta )

overridevirtual

Reimplemented from MBSim::Contour.

◆ evalWn()

Vec3 MBSimFlexibleBody::NurbsDisk2s::evalWn ( const fmatvec::Vec2 & zeta )

overridevirtual

Reimplemented from MBSim::Contour.

◆ evalWs()

Vec3 MBSimFlexibleBody::NurbsDisk2s::evalWs ( const fmatvec::Vec2 & zeta )

overridevirtual

Reimplemented from MBSim::Contour.

◆ evalWt()

Vec3 MBSimFlexibleBody::NurbsDisk2s::evalWt ( const fmatvec::Vec2 & zeta )

overridevirtual

Reimplemented from MBSim::Contour.

◆ evalWu()

fmatvec::Vec3 MBSimFlexibleBody::NurbsDisk2s::evalWu ( const fmatvec::Vec2 & zeta )

inlineoverridevirtual

Reimplemented from MBSim::Contour.

◆ evalWv()

fmatvec::Vec3 MBSimFlexibleBody::NurbsDisk2s::evalWv ( const fmatvec::Vec2 & zeta )

inlineoverridevirtual

Reimplemented from MBSim::Contour.

◆ findContactPairingWith()

MBSim::ContactKinematics * MBSimFlexibleBody::NurbsDisk2s::findContactPairingWith	(	const std::type_info &	type0,
		const std::type_info &	type1
	)

inlineoverridevirtual

Implements MBSim::Contour.

◆ getControlPoints()

Vec MBSimFlexibleBody::NurbsDisk2s::getControlPoints	(	const int	u,
		const int	v
	)

Returns: control point

Parameters

u	location
v	location

◆ getUVector()

Vec MBSimFlexibleBody::NurbsDisk2s::getUVector ( )

return U-Vector of the surface (azimuthal direction)

◆ getVVector()

Vec MBSimFlexibleBody::NurbsDisk2s::getVVector ( )

return V-Vector of the surface (radial direction)

◆ plot()

void MBSimFlexibleBody::NurbsDisk2s::plot ( )

overridevirtual

Reimplemented from MBSim::Element.

◆ testInsideBounds()

int MBSimFlexibleBody::NurbsDisk2s::testInsideBounds ( const fmatvec::Vec & s )

Returns: flag, whether the input radius is inside the bounds or the input angle is between 0 and 2 PI

Parameters

parametrisation vector

◆ transformCW()

Vec MBSimFlexibleBody::NurbsDisk2s::transformCW ( const fmatvec::Vec & WrPoint )

transformation cartesian to cylinder system

Parameters

cartesian vector in world system

Returns: cylindrical coordinates

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_disk_2s.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/contours/nurbs_disk_2s.cc

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NurbsDisk2s()

Member Function Documentation

◆ computeCurvatures()

◆ computeDirectionalDerivatives()

◆ computeError()

◆ computeUVector()

◆ computeVVector()

◆ evalPosition()

◆ evalWn()

◆ evalWs()

◆ evalWt()

◆ evalWu()

◆ evalWv()

◆ findContactPairingWith()

◆ getControlPoints()

◆ getUVector()

◆ getVVector()

◆ plot()

◆ testInsideBounds()

◆ transformCW()