linear_external.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
 *          rzander@users.berlios.de
 */
 
#ifndef _FLEXIBLE_BODY_LINEAR_EXTERNAL_H_
#define _FLEXIBLE_BODY_LINEAR_EXTERNAL_H_
 
#include "mbsimFlexibleBody/flexible_body.h"
#include "mbsim/mbsim_event.h"
#include <fstream>
 
namespace MBSimFlexibleBody {
 
  class ContourInterpolation;
 
  class FlexibleBodyLinearExternal : public FlexibleBody {
    public:
      FlexibleBodyLinearExternal(const std::string &name);
 
      virtual ~FlexibleBodyLinearExternal() {}
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      /* INHERITED INTERFACE OF OBJECT */
      virtual void init(InitStage stage, const MBSim::InitConfigSet &config) { new MBSim::MBSimError("(FlexibleBodyLinearExternal::init): Not implemented!"); }
      virtual void facLLM() {}
      /***************************************************/
      
      /* INHERITED INTERFACE OF FLEXIBLEBODY */
      virtual void BuildElements() { new MBSim::MBSimError("(FlexibleBodyLinearExternal::BuildElements): Not implemented!"); }
      virtual void GlobalVectorContribution(int n, const fmatvec::Vec& locVec, fmatvec::Vec& gloVec);
      virtual void GlobalMatrixContribution(int n, const fmatvec::Mat& locMat, fmatvec::Mat& gloMat);
      virtual void GlobalMatrixContribution(int n, const fmatvec::SymMat& locMat, fmatvec::SymMat& gloMat);
      virtual void updateKinematicsForFrame(MBSim::ContourPointData &cp, MBSim::Frame::Feature ff, MBSim::Frame *frame=0);
      virtual void updateJacobiansForFrame(MBSim::ContourPointData &data, MBSim::Frame *frame=0);
      /***************************************************/
 
      void readMassMatrix(const std::string &massfilename); 
 
      void setMassMatrix(const fmatvec::SymMat &mat); 
 
      void readStiffnessMatrix(const std::string &stiffnessfilename); 
 
      void setStiffnessMatrix(const fmatvec::SqrMat &mat); 
 
      void setProportionalDamping(const double &a, const double &b);
 
//      /*! plot parameters of "BodyFlexibleLinearExternal"
//      */
//      void plotParameters();
 
      using FlexibleBody::addFrame;
//      void addFrame(const std::string &name, const std::string &jacobifilename);
 
//      void addFrame(const std::string &name, const fmatvec::Mat &J_, const fmatvec::Vec &r_);
 
//      void addContour(Contour *contour, const std::string &jacobifilename);
 
//      void addContour(Contour *contour, const fmatvec::Mat &J_, const fmatvec::Vec &r_);
 
//      void addContourInterpolation(ContourInterpolation *contour);
 
      void setWrON00(const fmatvec::Vec &WrON00_) {WrON00 = WrON00_;}
 
      /* geerbt */
      fmatvec::Mat computeJacobianMatrix(const MBSim::ContourPointData &CP);
 
    protected:
      int nContours;
      
      std::vector<MBSim::ContourPointData> contourType;
 
      fmatvec::Vec WrON00;
 
      void updateStateDependentVariables(double t);
      void updateContours(double t);
 
      MBSim::ContourPointData addInterface(const std::string &jacbifilename);
      MBSim::ContourPointData addInterface(const fmatvec::Mat &J, const fmatvec::Vec &r);
 
      /* empty function since mass, damping and stiffness matrices are constant !!! */
      void updateJh_internal(double t);
   };
 
}
 
#endif /* _FLEXIBLE_BODY_LINEAR_EXTERNAL_H_ */