1s_23_bta.h

/* Copyright (C) 2004-2015 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: thorsten.schindler@mytum.de
 */
 
#ifndef _FINITE_ELEMENT_1S_23_BTA_H_
#define _FINITE_ELEMENT_1S_23_BTA_H_
 
#include "mbsimFlexibleBody/discretization_interface.h"
#include "fmatvec/fmatvec.h"
 
namespace MBSimFlexibleBody {
 
  class FiniteElement1s23BTA : public DiscretizationInterface {
    public:
      FiniteElement1s23BTA(double l0, double Arho, double EIyy, double EIzz, double Itrho, double GIt, const fmatvec::Vec &g);
 
      ~FiniteElement1s23BTA() override = default;
 
      /* INHERITED INTERFACE OF DISCRETIZATIONINTERFACE */
      const fmatvec::SymMat& getM() const override { return M; }
      const fmatvec::Vec& geth() const override { return h; }
      const fmatvec::SqrMat& getdhdq() const override { return Dhq; }
      const fmatvec::SqrMat& getdhdu() const override { return Dhqp; }
      int getqSize() const override { return 10; }
      int getuSize() const override { return 10; }
 
      void computeM(const fmatvec::Vec& qG) override;
      void computeh(const fmatvec::Vec& qG,const fmatvec::Vec& qGt) override;
      void computedhdz(const fmatvec::Vec& qG, const fmatvec::Vec& qGt) override;
      double computeKineticEnergy(const fmatvec::Vec& q,const fmatvec::Vec& u) override;
      double computeGravitationalEnergy(const fmatvec::Vec& q) override;    
      double computeElasticEnergy(const fmatvec::Vec& q) override;
 
      virtual fmatvec::Vec3 getPosition(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& qElement, double s);
      virtual fmatvec::Vec3 getVelocity (const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Vec3 getAngularVelocity(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
      virtual fmatvec::Mat getJacobianOfMotion(const fmatvec::Vec& qElement, double s) { return JGeneralized(qElement,s); }
      /*****************************************************/ 
 
      /* GETTER / SETTER */
      void setMaterialDamping(double);
      void setLehrDamping(double);
      void setTorsionalDamping(double dTorsional_) { dTorsional=dTorsional_; }
      /*****************************************************/ 
 
      fmatvec::Vec3 getTangent(const fmatvec::Vec& q, double s);
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getPositions(const fmatvec::Vec& qElement, double s);
 
      fmatvec::Vector<fmatvec::Fixed<6>, double> getVelocities(const fmatvec::Vec& qElement, const fmatvec::Vec& qpElement, double s);
 
//      /*! 
//       * \brief compute accompanying trihedral
//       * \param global coordinates
//       * \param LAGRANGIAN parameter
//       */
//      fmatvec::SqrMat3 getOrientation(const fmatvec::Vec& q, double s);
 
//      /*!
//       * \brief compute global state 
//       * \param global coordinates
//       * \param global velocities
//       * \param LAGRANGIAN parameter
//       * \return x,y,z,alpha,2x bending angle and velocities
//       */
//      fmatvec::Vec StateAxis(const fmatvec::Vec& q, const fmatvec::Vec& v, double s); 
 
      fmatvec::Mat JGeneralized(const fmatvec::Vec& q, double s);
 
    private:
      double l0;
 
      double Arho;
 
      double EIyy, EIzz;
 
      double Itrho;
 
      double GIt;
 
      fmatvec::Vec g;
 
      double depsilon, dTorsional;
 
      fmatvec::SymMat M;
      fmatvec::Vec h;
 
      fmatvec::SqrMat Dhq, Dhqp;
 
      fmatvec::SqrMat Damp;
 
      double l0h2, l0h3;
  };
 
  inline double Sec(double alpha) { return 1.0/cos(alpha); }
  inline double Power(double base, int exponent) { return pow(base,exponent); }
}
 
#endif /* _FINITE_ELEMENT_1S_23_BTA_H_ */