#include <strforce_impl.h>

Inheritance diagram for AbsoluteForce:

Collaboration diagram for AbsoluteForce:

Public Member Functions
	AbsoluteForce (unsigned int uL, const StructNode pN, const TplDriveCaller< Vec3 > pDC, const Vec3 &TmpArm, flag fOut)

	~AbsoluteForce (void)

virtual Force::Type	GetForceType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &, const VectorHandler &, const VectorHandler &, InverseDynamics::Order iOrder)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual unsigned int	iGetNumDof (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints h=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from StructuralForce
	StructuralForce (unsigned int uL, const StructNode pN, const TplDriveCaller< Vec3 > pDC, flag fOut)

virtual	~StructuralForce (void)

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Force
	Force (unsigned int uL, flag fOut)

virtual	~Force (void)

virtual Elem::Type	GetElemType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Protected Attributes
const Vec3	Arm

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from StructuralForce
TplDriveOwner< Vec3 >	f

const StructNode *	pNode

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from StructuralForce
enum	{ OUTPUT_REL = ToBeOutput::OUTPUT_PRIVATE }

Public Types inherited from Force
enum	Type { UNKNOWN = -1, ABSTRACTFORCE = 0, ABSTRACTINTERNALFORCE, ABSOLUTEDISPFORCE, ABSOLUTEINTERNALDISPFORCE, ABSOLUTEFORCE, FOLLOWERFORCE, ABSOLUTECOUPLE, FOLLOWERCOUPLE, ABSOLUTEINTERNALFORCE, FOLLOWERINTERNALFORCE, ABSOLUTEINTERNALCOUPLE, FOLLOWERINTERNALCOUPLE, TOTALFORCE, TOTALINTERNALFORCE, EXTERNALSTRUCTURAL, MODALFORCE, EXTERNALMODAL, LASTFORCETYPE }

Detailed Description

Definition at line 209 of file strforce_impl.h.

Constructor & Destructor Documentation

AbsoluteForce::AbsoluteForce	(	unsigned int	uL,
		const StructNode *	pN,
		const TplDriveCaller< Vec3 > *	pDC,
		const Vec3 &	TmpArm,
		flag	fOut
	)

Definition at line 435 of file strforce.cc.

References NO_OP.

 : Elem(uL, fOut),
 StructuralForce(uL, pN, pDC, fOut),
 Arm(TmpArm)
 #ifdef USE_NETCDF
 ,
 Var_A(0)
 #endif // USE_NETCDF
 {
         NO_OP;
 }

AbsoluteForce::~AbsoluteForce ( void )

Definition at line 452 of file strforce.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & AbsoluteForce::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 484 of file strforce.cc.

References Arm, DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRRef(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCrossCross, StructuralForce::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

 {
         DEBUGCOUT("Entering AbsoluteForce::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         WM.ResizeReset(3, 3);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex() + 3;
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex() + 3;
         for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         /* Dati */
         Vec3 TmpArm(pNode->GetRRef()*Arm);
 
         /* |    F/\   |           |   F  |
          * |          | Delta_g = |      |
          * | (d/\F)/\ |           | d/\F |
          */
 
         WM.Sub(1, 1, Mat3x3(MatCrossCross, f.Get(), TmpArm*dCoef));
 
         return WorkMat;
 }

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SubVectorHandler & AbsoluteForce::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 519 of file strforce.cc.

References VectorHandler::Add(), Arm, grad::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::iGetFirstMomentumIndex(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering AbsoluteForce::AssRes()" << std::endl);
 
         integer iNumRows;
         integer iNumCols;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici delle incognite del nodo */
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
         }
 
         const Mat3x3& R(pNode->GetRCurr());
         Vec3 F(f.Get());
         Vec3 M((R*Arm).Cross(F));
 
         WorkVec.Add(1, F);
         WorkVec.Add(4, M);
 
         return WorkVec;
 }

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SubVectorHandler & AbsoluteForce::AssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	,
		const VectorHandler &	,
		const VectorHandler &	,
		InverseDynamics::Order	iOrder
	)

virtual

Reimplemented from Elem.

Definition at line 549 of file strforce.cc.

References VectorHandler::Add(), Arm, grad::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::iGetFirstPositionIndex(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering AbsoluteForce::AssRes()" << std::endl);
 
         integer iNumRows;
         integer iNumCols;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici delle incognite del nodo */
         integer iFirstMomentumIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
         }
 
         const Mat3x3& R(pNode->GetRCurr());
         Vec3 F(f.Get());
         Vec3 M((R*Arm).Cross(F));
 
         WorkVec.Add(1, F);
         WorkVec.Add(4, M);
 
         return WorkVec;
 }

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virtual Force::Type AbsoluteForce::GetForceType ( void ) const

inlinevirtual

Implements Force.

Definition at line 227 of file strforce_impl.h.

References Force::ABSOLUTEFORCE.

                                                    {
                 return Force::ABSOLUTEFORCE;
         };

VariableSubMatrixHandler & AbsoluteForce::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Force.

Definition at line 629 of file strforce.cc.

References Arm, DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRRef(), StructNode::GetWRef(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, StructuralForce::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

 {
         DEBUGCOUT("Entering AbsoluteForce::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         WM.ResizeReset(6, 6);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex() + 3;
         integer iFirstVelocityIndex = iFirstPositionIndex + 6;
         for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WM.PutRowIndex(3+iCnt, iFirstVelocityIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
                 WM.PutColIndex(3+iCnt, iFirstVelocityIndex + iCnt);
         }
 
         /* Dati */
         Vec3 TmpArm(pNode->GetRRef()*Arm);
         Vec3 TmpDir = f.Get();
         const Vec3& Omega(pNode->GetWRef());
 
         /* |    F/\   |           |   F  |
          * |          | Delta_g = |      |
          * | (d/\F)/\ |           | d/\F |
          */
 
         Mat3x3 MTmp(MatCrossCross, TmpDir, TmpArm);
 
         WM.Sub(1, 1, MTmp);
         WM.Sub(4, 1, Mat3x3(MatCrossCross, TmpDir, Omega)*Mat3x3(MatCross, TmpArm));
         WM.Sub(4, 4, MTmp);
 
         return WorkMat;
 }

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SubVectorHandler & AbsoluteForce::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 670 of file strforce.cc.

References VectorHandler::Add(), Arm, grad::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructNode::GetWCurr(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, and VectorHandler::ResizeReset().

 {
         DEBUGCOUT("Entering AbsoluteForce::InitialAssRes()" << std::endl);
 
         integer iNumRows;
         integer iNumCols;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici delle incognite del nodo */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstVelocityIndex = iFirstPositionIndex + 6;
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WorkVec.PutRowIndex(6+iCnt, iFirstVelocityIndex + iCnt);
         }
 
         /* Dati */
         const Mat3x3& R(pNode->GetRCurr());
         Vec3 TmpDir(f.Get());
         Vec3 TmpArm(R*Arm);
         const Vec3& Omega(pNode->GetWCurr());
 
         WorkVec.Add(1, TmpDir);
         WorkVec.Add(4, TmpArm.Cross(TmpDir));
         /* In 7 non c'e' nulla */
         WorkVec.Add(10, (Omega.Cross(TmpArm)).Cross(TmpDir));
 
         return WorkVec;
 }

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void AbsoluteForce::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

virtual

Implements SubjectToInitialAssembly.

Definition at line 465 of file strforce.cc.

Referenced by InitialAssRes().

 {
         *piNumRows = 12;
         *piNumCols = 6;
 }

void AbsoluteForce::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 603 of file strforce.cc.

References Arm, ToBeOutput::bToBeOutput(), StructuralForce::f, OutputHandler::FORCES, OutputHandler::Forces(), TplDriveOwner< T >::Get(), OutputHandler::GetCurrentStep(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), Vec3::pGetVec(), StructuralForce::pNode, OutputHandler::UseNetCDF(), and OutputHandler::UseText().

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::FORCES)) {
                         Var_F->put_rec(f.Get().pGetVec(), OH.GetCurrentStep());
                         Var_A->put_rec((pNode->GetXCurr() + pNode->GetRCurr()*Arm).pGetVec(), OH.GetCurrentStep());
                 }
 #endif // USE_NETCDF
 
                 if (OH.UseText(OutputHandler::FORCES)) {
                         OH.Forces()
                                 << GetLabel()
                                 << " " << pNode->GetLabel()
                                 << " " << f.Get()
                                 << " " << pNode->GetXCurr() + pNode->GetRCurr()*Arm
                                 << std::endl;
                 }
 
                 /* TODO: NetCDF */
         }
 }

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void AbsoluteForce::OutputPrepare ( OutputHandler & OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 579 of file strforce.cc.

References ASSERT, ToBeOutput::bToBeOutput(), OutputHandler::FORCES, WithLabel::GetLabel(), OutputHandler::IsOpen(), OutputHandler::NETCDF, and OutputHandler::UseNetCDF().

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::FORCES)) {
                         ASSERT(OH.IsOpen(OutputHandler::NETCDF));
 
                         std::ostringstream os;
                         os << "elem.force." << GetLabel();
                         (void)OH.CreateVar(os.str(), "absolute");
 
                         // joint sub-data
                         os << '.';
                         Var_F = OH.CreateVar<Vec3>(os.str() + "F", "N",
                                 "global force components (x, y, z)");
 
                         Var_A = OH.CreateVar<Vec3>(os.str() + "Arm", "m",
                                 "arm in global frame (x, y, z)");
                 }
 #endif // USE_NETCDF
         }
 }

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std::ostream & AbsoluteForce::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 475 of file strforce.cc.

References Arm, StructuralForce::f, WithLabel::GetLabel(), TplDriveOwner< T >::pGetDriveCaller(), StructuralForce::pNode, TplDriveCaller< T >::Restart(), Force::Restart(), and Vec3::Write().

 {
         Force::Restart(out) << ", absolute, "
                 << pNode->GetLabel() << ", position, reference, node, ",
                 Arm.Write(out, ", ") << ", ";
         return f.pGetDriveCaller()->Restart(out) << ';' << std::endl;
 }

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void AbsoluteForce::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

virtual

Implements Elem.

Definition at line 458 of file strforce.cc.

Referenced by AssRes().

 {
         *piNumRows = 6;
         *piNumCols = 3;
 }

Member Data Documentation

const Vec3 AbsoluteForce::Arm

protected

Definition at line 211 of file strforce_impl.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation