transformation of coordinates for FiniteElement1s33RCM More...

#include <trafo33RCM.h>

Public Member Functions
	Trafo33RCM (RevCardanPtr angle_, double l0_)
	constructor

virtual	~Trafo33RCM ()
	destructor

const fmatvec::SqrMat &	getJIG () const

const fmatvec::SqrMat &	getJIGt () const

const fmatvec::Vec &	getpS () const

const fmatvec::Vec &	getpSt () const

const fmatvec::Vec &	gettS () const

const fmatvec::Vec &	getnS () const

const fmatvec::Vec &	getbS () const

const fmatvec::RowVec &	getnSH () const

const fmatvec::RowVec &	getbSH () const

const fmatvec::Vec &	getntilS () const

const fmatvec::Vec &	getbtilS () const

const fmatvec::RowVec &	getntilSH () const

const fmatvec::RowVec &	getbtilSH () const

const fmatvec::Vec &	gettSt () const

const fmatvec::Vec &	getnSt () const

const fmatvec::Vec &	getbSt () const

const fmatvec::RowVec &	gettStH () const

const fmatvec::RowVec &	getnStH () const

const fmatvec::RowVec &	getbStH () const

const fmatvec::RowVec &	getntilStH () const

const fmatvec::RowVec &	getbtilStH () const

const fmatvec::SqrMat &	gettSpS () const

const fmatvec::SqrMat &	getnSpS () const

const fmatvec::SqrMat &	getbSpS () const

const fmatvec::SqrMat &	getntilSpS () const

const fmatvec::SqrMat &	getbtilSpS () const

const fmatvec::SqrMat &	gettSpSt () const

const fmatvec::SqrMat &	getnSpSt () const

const fmatvec::SqrMat &	getbSpSt () const

const fmatvec::SqrMat &	getntilSpSt () const

const fmatvec::SqrMat &	getbtilSpSt () const

const fmatvec::Vec &	getqIt () const

const double &	getepstil () const

const double &	getepstilt () const

const fmatvec::Vec &	getrS () const

const fmatvec::Vec &	getrSt () const

const double &	getk0 () const

const double &	getk0t () const

const fmatvec::Vec &	getbe () const

const fmatvec::Vec &	getbet () const

const double &	getxintil () const

const double &	getxibtil () const

const double &	getetantil () const

const double &	getetabtil () const

const double &	getxintilt () const

const double &	getxibtilt () const

const double &	getetantilt () const

const double &	getetabtilt () const

const fmatvec::SqrMat &	getV () const

void	computeqI (const fmatvec::Vec &qG)
	compute the internal coordinates More...

void	computeJIG (const fmatvec::Vec &qG)
	compute the Jacobian of the trafo More...

void	computezI (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
	compute the internal state More...

void	computeCOSYt (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
	compute the internal time differentiated COSY More...

void	computeTrafo (const fmatvec::Vec &qG, const fmatvec::Vec &qGt)
	compute the internal coordinates and velocities as well as JIGt More...

Private Member Functions
void	computeprelim (const fmatvec::Vec &qG)
	computes preliminaries More...

fmatvec::Vec	computes0 (const fmatvec::Vec &qG)
	compute the initial value for computebe() More...

void	computebe (const fmatvec::Vec &qG)
	compute the angle and bending positions More...

void	computeCOSY ()
	compute the COSY

void	computerSepstk0 (const fmatvec::Vec &qG)
	compute the CP, prolongation and torsion More...

void	computedrRdrL ()
	compute delta matrix for right and left beam end

void	computeV ()
	compute the derivative of coefficients of bending polynomials w with respect to bending coordinates

void	computebeqG ()
	compute the derivative of bE with respect to qG

void	computeCOSYqG ()
	compute the derivative of COSY with respect to qG

void	computeCOSYt ()
	compute the derivative of COSY with respect to time

void	computeJIGt (const fmatvec::Vec &qGt)
	compute the derivative of JIG with respect to time More...

Private Attributes
RevCardanPtr	angle
	reversed Cardan-Object

double	l0
	length of FiniteElement1s33RCM and powers

double	l0h2

double	l0h3

double	l0h4

double	l0h5

double	xstar

double	xstarh2

double	xstarh3

double	epstil
	internal coordinates of the FiniteElement1s33RCM

double	k0

fmatvec::Vec	rS

fmatvec::Vec	pS

fmatvec::Vec	rRrLp
	sum of right and left translational vector as well as transpose of the difference

fmatvec::RowVec	rRrLmH

fmatvec::Vec	be
	bending coordinates

fmatvec::Vec	tS
	COSY definitions.

fmatvec::Vec	nS

fmatvec::Vec	bS

fmatvec::Vec	ntilS

fmatvec::Vec	btilS

fmatvec::RowVec	nSH

fmatvec::RowVec	bSH

fmatvec::RowVec	ntilSH

fmatvec::RowVec	btilSH

fmatvec::SqrMat	tSpS

fmatvec::SqrMat	nSpS

fmatvec::SqrMat	bSpS

fmatvec::SqrMat	ntilSpS

fmatvec::SqrMat	btilSpS

double	xibtil

double	xintil

double	etabtil

double	etantil

fmatvec::Mat	SMRHS_Jac
	system matrix and right hand side for computebe()

fmatvec::SqrMat	V
	derivative of coefficients of bending polynomials w with respect to bending coordinates

fmatvec::Mat	drRdrLp
	delta matrices for computebe()

fmatvec::Mat	drRdrLm

fmatvec::Mat	pSbE

fmatvec::Mat	SMRHS
	COSY definitions for computebe()

fmatvec::Mat	nSbE

fmatvec::Mat	bSbE

fmatvec::Mat	ntilSbE

fmatvec::Mat	btilSbE

fmatvec::RowVec	xibtilbE

fmatvec::RowVec	xintilbE

fmatvec::RowVec	etabtilbE

fmatvec::RowVec	etantilbE

fmatvec::Mat	beqG
	derivative of be and COSY with respect to qG

fmatvec::Mat	tSqG

fmatvec::Mat	nSqG

fmatvec::Mat	bSqG

fmatvec::Mat	ntilSqG

fmatvec::Mat	btilSqG

fmatvec::RowVec	xintilqG

fmatvec::RowVec	xibtilqG

fmatvec::RowVec	etantilqG

fmatvec::RowVec	etabtilqG

fmatvec::SqrMat	JIG
	Jacobian and differentiated Jacobian.

fmatvec::SqrMat	JIGt

double	k0t
	derivative of k0, epstilt, qI, rS, be and COSY with respect to time

double	epstilt

fmatvec::Vec	qIt

fmatvec::Vec	rSt

fmatvec::Vec	bet

fmatvec::Vec	pSt

fmatvec::Vec	tSt

fmatvec::Vec	nSt

fmatvec::Vec	bSt

fmatvec::RowVec	tStH

fmatvec::RowVec	nStH

fmatvec::RowVec	bStH

fmatvec::RowVec	ntilStH

fmatvec::RowVec	btilStH

fmatvec::SqrMat	tSpSt

fmatvec::SqrMat	nSpSt

fmatvec::SqrMat	bSpSt

fmatvec::SqrMat	ntilSpSt

fmatvec::SqrMat	btilSpSt

double	xibtilt

double	xintilt

double	etabtilt

double	etantilt

Detailed Description

transformation of coordinates for FiniteElement1s33RCM

Author: Thorsten Schindler

Date: 2009-04-24 initial commit (Thorsten Schindler)

Member Function Documentation

◆ computebe()

void MBSimFlexibleBody::Trafo33RCM::computebe ( const fmatvec::Vec & qG )

private

compute the angle and bending positions

Parameters

global coordinates

◆ computeCOSYt()

void MBSimFlexibleBody::Trafo33RCM::computeCOSYt	(	const fmatvec::Vec &	qG,
		const fmatvec::Vec &	qGt
	)

compute the internal time differentiated COSY

Parameters

global	coordinates
global	velocities

◆ computeJIG()

void MBSimFlexibleBody::Trafo33RCM::computeJIG ( const fmatvec::Vec & qG )

compute the Jacobian of the trafo

Parameters

global coordinates

◆ computeJIGt()

void MBSimFlexibleBody::Trafo33RCM::computeJIGt ( const fmatvec::Vec & qGt )

private

compute the derivative of JIG with respect to time

Parameters

global velocities

◆ computeprelim()

void MBSimFlexibleBody::Trafo33RCM::computeprelim ( const fmatvec::Vec & qG )

private

computes preliminaries

Parameters

global coordinates

◆ computeqI()

void MBSimFlexibleBody::Trafo33RCM::computeqI ( const fmatvec::Vec & qG )

compute the internal coordinates

Parameters

global coordinates

◆ computerSepstk0()

void MBSimFlexibleBody::Trafo33RCM::computerSepstk0 ( const fmatvec::Vec & qG )

private

compute the CP, prolongation and torsion

Parameters

global coordinates

◆ computes0()

Vec MBSimFlexibleBody::Trafo33RCM::computes0 ( const fmatvec::Vec & qG )

private

compute the initial value for computebe()

Parameters

global coordinates

◆ computeTrafo()

void MBSimFlexibleBody::Trafo33RCM::computeTrafo	(	const fmatvec::Vec &	qG,
		const fmatvec::Vec &	qGt
	)

compute the internal coordinates and velocities as well as JIGt

Parameters

global	coordinates
global	velocities

◆ computezI()

void MBSimFlexibleBody::Trafo33RCM::computezI	(	const fmatvec::Vec &	qG,
		const fmatvec::Vec &	qGt
	)

compute the internal state

Parameters

global	coordinates
global	velocities

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

/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/trafo33RCM.h
/mbsim-env/mbsim/modules/mbsimFlexibleBody/mbsimFlexibleBody/flexible_body/fe/1s_33_rcm/trafo33RCM.cc

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ computebe()

◆ computeCOSYt()

◆ computeJIG()

◆ computeJIGt()

◆ computeprelim()

◆ computeqI()

◆ computerSepstk0()

◆ computes0()

◆ computeTrafo()

◆ computezI()