superelement for linear models from external preprocessing. More...

#include <superelement_linear_external.h>

Inheritance diagram for MBSimFlexibleBody::SuperElementLinearExternal:

Public Member Functions
void	init (MBSim::Element::InitStage stage, const MBSim::InitConfigSet &config)

void	setM (const fmatvec::SymMat &M_)

void	setK (const fmatvec::SqrMat &K_)

void	setProportionalDamping (double alpha_, double beta_)

const fmatvec::SymMat &	getM () const

const fmatvec::Vec &	geth () const

const fmatvec::SqrMat &	getdhdq () const

const fmatvec::SqrMat &	getdhdu () const

int	getqSize () const

int	getuSize () const

void	computeM (const fmatvec::Vec &qElement)
	compute mass matrix More...

void	computeh (const fmatvec::Vec &qElement, const fmatvec::Vec &uElement)

void	computedhdz (const fmatvec::Vec &qElement, const fmatvec::Vec &uElement)
	compute Jacobian for implicit integration More...

double	computeKineticEnergy (const fmatvec::Vec &q, const fmatvec::Vec &u)
	compute kinetic energy More...

double	computeGravitationalEnergy (const fmatvec::Vec &q)
	compute gravitational energy More...

double	computeElasticEnergy (const fmatvec::Vec &q)
	compute elastic energy More...

fmatvec::Vec	computeVelocity (const fmatvec::Vec &q, const fmatvec::Vec &u, const MBSim::ContourPointData &cp)

fmatvec::Vec	computeAngularVelocity (const fmatvec::Vec &q, const fmatvec::Vec &u, const MBSim::ContourPointData &cp)

fmatvec::Vec	computePosition (const fmatvec::Vec &q, const MBSim::ContourPointData &cp)

fmatvec::SqrMat	computeOrientation (const fmatvec::Vec &q, const MBSim::ContourPointData &cp)

fmatvec::Mat	computeJacobianOfMotion (const fmatvec::Vec &q, const MBSim::ContourPointData &cp)

MBSim::ContourPointData	addInterface (fmatvec::Mat J_, fmatvec::Vec KrP_)

Public Member Functions inherited from MBSimFlexibleBody::DiscretizationInterface
	DiscretizationInterface ()=default
	constructor

virtual	~DiscretizationInterface ()=default
	destructor

virtual const fmatvec::SymMat &	getM () const =0

virtual const fmatvec::Vec &	geth () const =0

virtual const fmatvec::SqrMat &	getdhdq () const =0

virtual const fmatvec::SqrMat &	getdhdu () const =0

virtual int	getqSize () const =0

virtual int	getuSize () const =0

virtual void	computeM (const fmatvec::Vec &q)=0
	compute mass matrix More...

virtual void	computeh (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
	compute smooth right hand side More...

virtual void	computedhdz (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
	compute Jacobian for implicit integration More...

virtual double	computeKineticEnergy (const fmatvec::Vec &q, const fmatvec::Vec &u)=0
	compute kinetic energy More...

virtual double	computeGravitationalEnergy (const fmatvec::Vec &q)=0
	compute gravitational energy More...

virtual double	computeElasticEnergy (const fmatvec::Vec &q)=0
	compute elastic energy More...

Protected Attributes
fmatvec::SymMat	M

fmatvec::Vec	h

fmatvec::SqrMat	K

fmatvec::SqrMat	D

double	alpha

double	beta

fmatvec::SqrMat	Dhq

fmatvec::SqrMat	Dhqp

std::vector< fmatvec::Mat >	J

std::vector< fmatvec::Vec >	KrP

Detailed Description

superelement for linear models from external preprocessing.

Author: Roland Zander

Date: 2009-05-22 some references added (Thorsten Schindler); 2009-07-16 fixed proportional damping (Thorsten Schindler); 2009-07-23 implicit integration (Thorsten Schindler)

Member Function Documentation

◆ computedhdz()

void MBSimFlexibleBody::SuperElementLinearExternal::computedhdz	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

inlinevirtual

compute Jacobian for implicit integration

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeElasticEnergy()

double MBSimFlexibleBody::SuperElementLinearExternal::computeElasticEnergy ( const fmatvec::Vec & q )

inlinevirtual

compute elastic energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeGravitationalEnergy()

double MBSimFlexibleBody::SuperElementLinearExternal::computeGravitationalEnergy ( const fmatvec::Vec & q )

inlinevirtual

compute gravitational energy

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeh()

void MBSimFlexibleBody::SuperElementLinearExternal::computeh	(	const fmatvec::Vec &	qElement,
		const fmatvec::Vec &	uElement
	)

inlinevirtual

update \(\vh= -(\vK \vq + \vD \vu)\), \(\vM\) is constant

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeKineticEnergy()

double MBSimFlexibleBody::SuperElementLinearExternal::computeKineticEnergy	(	const fmatvec::Vec &	q,
		const fmatvec::Vec &	u
	)

inlinevirtual

compute kinetic energy

Parameters

generalised	positions
generalised	velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ computeM()

void MBSimFlexibleBody::SuperElementLinearExternal::computeM ( const fmatvec::Vec & q )

inlinevirtual

compute mass matrix

Parameters

generalised positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdq()

const fmatvec::SqrMat & MBSimFlexibleBody::SuperElementLinearExternal::getdhdq ( ) const

inlinevirtual

Returns: Jacobian of implicit integration regarding position

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getdhdu()

const fmatvec::SqrMat & MBSimFlexibleBody::SuperElementLinearExternal::getdhdu ( ) const

inlinevirtual

Returns: Jacobian of implicit integration regarding velocity

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ geth()

const fmatvec::Vec & MBSimFlexibleBody::SuperElementLinearExternal::geth ( ) const

inlinevirtual

Returns: smooth right hand side of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getM()

const fmatvec::SymMat & MBSimFlexibleBody::SuperElementLinearExternal::getM ( ) const

inlinevirtual

Returns: mass matrix of discretization

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getqSize()

int MBSimFlexibleBody::SuperElementLinearExternal::getqSize ( ) const

inlinevirtual

Returns: dimension of positions

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ getuSize()

int MBSimFlexibleBody::SuperElementLinearExternal::getuSize ( ) const

inlinevirtual

Returns: dimension of velocities

Implements MBSimFlexibleBody::DiscretizationInterface.

◆ setK()

void MBSimFlexibleBody::SuperElementLinearExternal::setK ( const fmatvec::SqrMat & K_ )

set constant stiffness matrix \(\vK\)

Parameters

K	stiffness matrix

◆ setM()

void MBSimFlexibleBody::SuperElementLinearExternal::setM ( const fmatvec::SymMat & M_ )

set constant mass matrix \(\vM\)

Parameters

M	mass matrix

◆ setProportionalDamping()

void MBSimFlexibleBody::SuperElementLinearExternal::setProportionalDamping	(	double	alpha_,
		double	beta_
	)

inline

set coefficients \(\alpha\) and \(\beta\) for proportional damping: constant damping matrix \(\vD\) proportional to mass and stiffness

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

Parameters

alpha	proportional coefficient for mass matrix
beta	proportional coefficient for stiffness matrix

Member Data Documentation

◆ alpha

double MBSimFlexibleBody::SuperElementLinearExternal::alpha

protected

constant for damping matrix, see setProportionalDamping

◆ beta

double MBSimFlexibleBody::SuperElementLinearExternal::beta

protected

constant for damping matrix, see setProportionalDamping

◆ D

fmatvec::SqrMat MBSimFlexibleBody::SuperElementLinearExternal::D

protected

constant damping matrix \(\vD\), see setProportionalDamping()

◆ Dhq

fmatvec::SqrMat MBSimFlexibleBody::SuperElementLinearExternal::Dhq

protected

constant Jacobians for implicit integration

◆ h

fmatvec::Vec MBSimFlexibleBody::SuperElementLinearExternal::h

protected

right hand side

◆ J

std::vector<fmatvec::Mat> MBSimFlexibleBody::SuperElementLinearExternal::J

protected

container holding constant JACOBIAN-matrizes of all Frames and Contours

◆ K

fmatvec::SqrMat MBSimFlexibleBody::SuperElementLinearExternal::K

protected

constant stiffness matrix \(\vK\)

◆ KrP

std::vector<fmatvec::Vec> MBSimFlexibleBody::SuperElementLinearExternal::KrP

protected

container holding undeformed positions in body coordinate system of all Frames and Contours

◆ M

fmatvec::SymMat MBSimFlexibleBody::SuperElementLinearExternal::M

protected

constant mass matrix \(\vM\)

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/superelement_linear_external.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/superelement_linear_external.cc

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ computedhdz()

◆ computeElasticEnergy()

◆ computeGravitationalEnergy()

◆ computeh()

◆ computeKineticEnergy()

◆ computeM()

◆ getdhdq()

◆ getdhdu()

◆ geth()

◆ getM()

◆ getqSize()

◆ getuSize()

◆ setK()

◆ setM()

◆ setProportionalDamping()

Member Data Documentation

◆ alpha

◆ beta

◆ D

◆ Dhq

◆ h

◆ J

◆ K

◆ KrP

◆ M