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AngularAccelerationJoint Class Reference

#include <accj.h>

Inheritance diagram for AngularAccelerationJoint:
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Collaboration diagram for AngularAccelerationJoint:
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Public Member Functions

 AngularAccelerationJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN, const Vec3 &TmpDir, const DriveCaller *pDC, flag fOut)
 
 ~AngularAccelerationJoint (void)
 
virtual Joint::Type GetJointType (void) const
 
virtual std::ostream & Restart (std::ostream &out) const
 
virtual unsigned int iGetNumDof (void) const
 
DofOrder::Order GetDofType (unsigned int i) const
 
void WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
VariableSubMatrixHandler & AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
SubVectorHandler & AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
void Output (OutputHandler &OH) const
 
virtual void SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)
 
virtual unsigned int iGetInitialNumDof (void) const
 
virtual void InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
VariableSubMatrixHandler & InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
SubVectorHandler & InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
 
virtual unsigned int iGetNumPrivData (void) const
 
virtual unsigned int iGetPrivDataIdx (const char *s) const
 
virtual doublereal dGetPrivData (unsigned int i) const
 
virtual void GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
 
- Public Member Functions inherited from Elem
 Elem (unsigned int uL, flag fOut)
 
virtual ~Elem (void)
 
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 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 SubVectorHandler & AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
 
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 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 AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
 
virtual void AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)
 
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 OutputPrepare (OutputHandler &OH)
 
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 Joint
 Joint (unsigned int uL, const DofOwner *pD, flag fOut)
 
virtual ~Joint (void)
 
virtual Elem::Type GetElemType (void) const
 
std::ostream & Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const
 
virtual void SetInitialValue (VectorHandler &)
 
virtual void Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
 
bool bIsPrescribedMotion (void) const
 
bool bIsTorque (void) const
 
- Public Member Functions inherited from ElemGravityOwner
 ElemGravityOwner (unsigned int uL, flag fOut)
 
virtual ~ElemGravityOwner (void)
 
virtual doublereal dGetM (void) const
 
Vec3 GetS (void) const
 
Mat3x3 GetJ (void) const
 
Vec3 GetB (void) const
 
Vec3 GetG (void) const
 
- Public Member Functions inherited from GravityOwner
 GravityOwner (void)
 
virtual ~GravityOwner (void)
 
void PutGravity (const Gravity *pG)
 
virtual bool bGetGravity (const Vec3 &X, Vec3 &Acc) const
 
- Public Member Functions inherited from ElemWithDofs
 ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)
 
virtual ~ElemWithDofs (void)
 
- Public Member Functions inherited from DofOwnerOwner
 DofOwnerOwner (const DofOwner *pDO)
 
virtual ~DofOwnerOwner ()
 
virtual const DofOwner * pGetDofOwner (void) const
 
virtual integer iGetFirstIndex (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)
 
- Public Member Functions inherited from DriveOwner
 DriveOwner (const DriveCaller *pDC=0)
 
 DriveOwner (const DriveOwner &drive)
 
virtual ~DriveOwner (void)
 
void Set (const DriveCaller *pDC)
 
DriveCaller * pGetDriveCaller (void) const
 
doublereal dGet (const doublereal &dVar) const
 
doublereal dGet (void) const
 
bool bIsDifferentiable (void) const
 
doublereal dGetP (const doublereal &dVar) const
 
doublereal dGetP (void) const
 

Private Attributes

const StructNode * pNode
 
Vec3 Dir
 
doublereal dM
 

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 Joint
enum  Type {
  UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP,
  SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION,
  UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN,
  AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE,
  INPLANECONTACT, J_INLINE, ROD, RODBEZIER,
  DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT,
  VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION,
  ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP,
  DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN,
  IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL,
  POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION,
  TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE
}
 
- Protected Member Functions inherited from Joint
virtual void OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)
 
- Protected Member Functions inherited from ElemGravityOwner
virtual Vec3 GetS_int (void) const
 
virtual Mat3x3 GetJ_int (void) const
 
virtual Vec3 GetB_int (void) const
 
virtual Vec3 GetG_int (void) const
 
- Protected Attributes inherited from WithLabel
unsigned int uLabel
 
std::string sName
 
- Protected Attributes inherited from ToBeOutput
flag fOutput
 
- Protected Attributes inherited from GravityOwner
Gravity * pGravity
 
- Protected Attributes inherited from DriveOwner
DriveCaller * pDriveCaller
 

Detailed Description

Definition at line 123 of file accj.h.

Constructor & Destructor Documentation

AngularAccelerationJoint::AngularAccelerationJoint ( unsigned int  uL,
const DofOwner *  pDO,
const StructNode *  pN,
const Vec3 &  TmpDir,
const DriveCaller *  pDC,
flag  fOut 
)

Definition at line 265 of file accj.cc.

References ASSERT, Dir, Vec3::Norm(), and pNode.

271 : Elem(uL, fOut),
272 Joint(uL, pDO, fOut),
273 DriveOwner(pDC),
274 pNode(pN),
275 Dir(TmpDir),
276 dM(0.)
277 {
278  ASSERT(pNode != NULL);
279  ASSERT(Dir.Norm() > std::numeric_limits<doublereal>::epsilon());
280  Dir /= Dir.Norm();
281 }
Vec3::Norm
doublereal Norm(void) const
Definition: matvec3.h:263
Joint::Joint
Joint(unsigned int uL, const DofOwner *pD, flag fOut)
Definition: joint.cc:83
AngularAccelerationJoint::pNode
const StructNode * pNode
Definition: accj.h:126
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
Elem::Elem
Elem(unsigned int uL, flag fOut)
Definition: elem.cc:41
DriveOwner::DriveOwner
DriveOwner(const DriveCaller *pDC=0)
Definition: drive.cc:627

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AngularAccelerationJoint::~AngularAccelerationJoint ( void  )

Definition at line 285 of file accj.cc.

References NO_OP.

286 {
287  NO_OP;
288 }
NO_OP
#define NO_OP
Definition: myassert.h:74

Member Function Documentation

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

Implements Elem.

Definition at line 335 of file accj.cc.

References Vec3::dGet(), Dir, StructNode::GetRRef(), Node::iGetFirstColIndex(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::Resize(), and VariableSubMatrixHandler::SetSparse().

339 {
340  SparseSubMatrixHandler& WM = WorkMat.SetSparse();
341  WM.Resize(8, 0);
342 
343  integer iNodeRowIndex = pNode->iGetFirstRowIndex();
344  integer iNodeColIndex = pNode->iGetFirstColIndex();
345  integer iIndex = iGetFirstIndex();
346 
347  Vec3 TmpDir = pNode->GetRRef()*Dir;
348 
349  doublereal d = TmpDir.dGet(1);
350  WorkMat.PutItem(1, iIndex+1, iNodeColIndex+4, d);
351  WorkMat.PutItem(2, iNodeRowIndex+4, iIndex+2, d);
352  d = TmpDir.dGet(2);
353  WorkMat.PutItem(3, iIndex+1, iNodeColIndex+5, d);
354  WorkMat.PutItem(4, iNodeRowIndex+5, iIndex+2, d);
355  d = TmpDir.dGet(3);
356  WorkMat.PutItem(5, iIndex+1, iNodeColIndex+6, d);
357  WorkMat.PutItem(6, iNodeRowIndex+6, iIndex+2, d);
358 
359  WorkMat.PutItem(7, iIndex+1, iIndex+1, -dCoef);
360  WorkMat.PutItem(8, iIndex+2, iIndex+1, 1.);
361 
362  return WorkMat;
363 }
StructNode::GetRRef
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
Vec3
Definition: matvec3.h:98
SparseSubMatrixHandler::Resize
void Resize(integer iNewRow, integer iNewCol)
Definition: submat.cc:1053
SparseSubMatrixHandler::PutItem
void PutItem(integer iSubIt, integer iRow, integer iCol, const doublereal &dCoef)
Definition: submat.h:997
AngularAccelerationJoint::pNode
const StructNode * pNode
Definition: accj.h:126
Vec3::dGet
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
Node::iGetFirstRowIndex
virtual integer iGetFirstRowIndex(void) const
Definition: node.cc:82
VariableSubMatrixHandler::SetSparse
SparseSubMatrixHandler & SetSparse(void)
Definition: submat.h:1178
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
doublereal
double doublereal
Definition: colamd.c:52
integer
long int integer
Definition: colamd.c:51
Node::iGetFirstColIndex
virtual integer iGetFirstColIndex(void) const
Definition: node.cc:88

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

Implements Elem.

Definition at line 367 of file accj.cc.

References DriveOwner::dGet(), Vec3::dGet(), Dir, dM, Vec3::Dot(), StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SubVectorHandler::PutItem(), and VectorHandler::Resize().

371 {
372  WorkVec.Resize(5);
373 
374  integer iNodeRowIndex = pNode->iGetFirstRowIndex();
375  integer iIndex = iGetFirstIndex();
376 
377  doublereal dQ = XCurr(iIndex+1);
378  doublereal dQP = XPrimeCurr(iIndex+1);
379  dM = XCurr(iIndex+2);
380 
381  Vec3 W = pNode->GetWCurr();
382  Vec3 TmpDir = pNode->GetRCurr()*Dir;
383 
384  WorkVec.PutItem(1, iNodeRowIndex+4, -dM*TmpDir.dGet(1));
385  WorkVec.PutItem(2, iNodeRowIndex+5, -dM*TmpDir.dGet(2));
386  WorkVec.PutItem(3, iNodeRowIndex+6, -dM*TmpDir.dGet(3));
387  WorkVec.PutItem(4, iIndex+1, dQ-TmpDir.Dot(W));
388  WorkVec.PutItem(5, iIndex+2, dGet()-dQP);
389 
390  return WorkVec;
391 }
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
Vec3::Dot
doublereal Dot(const Vec3 &v) const
Definition: matvec3.h:243
DriveOwner::dGet
doublereal dGet(void) const
Definition: drive.cc:671
SubVectorHandler::PutItem
virtual void PutItem(integer iSubRow, integer iRow, const doublereal &dCoef)
Definition: submat.h:1445
AngularAccelerationJoint::pNode
const StructNode * pNode
Definition: accj.h:126
Vec3::dGet
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
Node::iGetFirstRowIndex
virtual integer iGetFirstRowIndex(void) const
Definition: node.cc:82
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
doublereal
double doublereal
Definition: colamd.c:52
integer
long int integer
Definition: colamd.c:51
VectorHandler::Resize
virtual void Resize(integer iNewSize)=0

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doublereal AngularAccelerationJoint::dGetPrivData ( unsigned int  i) const
virtual

Reimplemented from SimulationEntity.

Definition at line 474 of file accj.cc.

References DriveOwner::dGet(), dM, and MBDYN_EXCEPT_ARGS.

475 {
476  switch (i) {
477  case 1:
478  return dM;
479  case 2:
480  return dGet();
481  default:
482  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
483  }
484 }
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
DriveOwner::dGet
doublereal dGet(void) const
Definition: drive.cc:671

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

Reimplemented from Elem.

Definition at line 191 of file accj.h.

References pNode.

191  {
192  connectedNodes.resize(1);
193  connectedNodes[0] = pNode;
194 
195  };
AngularAccelerationJoint::pNode
const StructNode * pNode
Definition: accj.h:126
DofOrder::Order AngularAccelerationJoint::GetDofType ( unsigned int  i) const
virtual

Reimplemented from Elem.

Definition at line 311 of file accj.cc.

References DofOrder::ALGEBRAIC, ASSERT, DofOrder::DIFFERENTIAL, and MBDYN_EXCEPT_ARGS.

312 {
313  ASSERT(i == 0 || i == 1);
314  switch (i) {
315  case 0:
316  return DofOrder::DIFFERENTIAL;
317  case 1:
318  return DofOrder::ALGEBRAIC;
319  default:
320  silent_cerr("invalid dof number" << std::endl);
321  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
322  }
323 }
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
Joint::Type AngularAccelerationJoint::GetJointType ( void  ) const
virtual

Implements Joint.

Definition at line 292 of file accj.cc.

References Joint::ANGULARACCELERATION.

293 {
294  return Joint::ANGULARACCELERATION;
295 }
unsigned int AngularAccelerationJoint::iGetInitialNumDof ( void  ) const
virtual

Implements SubjectToInitialAssembly.

Definition at line 416 of file accj.cc.

417 {
418  return 0;
419 }
unsigned int AngularAccelerationJoint::iGetNumDof ( void  ) const
virtual

Reimplemented from Elem.

Definition at line 305 of file accj.cc.

306 {
307  return 2;
308 }
unsigned int AngularAccelerationJoint::iGetNumPrivData ( void  ) const
virtual

Reimplemented from SimulationEntity.

Definition at line 451 of file accj.cc.

452 {
453  return 2;
454 }
unsigned int AngularAccelerationJoint::iGetPrivDataIdx ( const char *  s) const
virtual

Reimplemented from SimulationEntity.

Definition at line 458 of file accj.cc.

References ASSERT.

459 {
460  ASSERT(s != NULL);
461 
462  if (strcmp(s, "M") == 0) {
463  return 1;
464  }
465 
466  if (strcmp(s, "wp") == 0) {
467  return 2;
468  }
469 
470  return 0;
471 }
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
VariableSubMatrixHandler & AngularAccelerationJoint::InitialAssJac ( VariableSubMatrixHandler &  WorkMat,
const VectorHandler &  XCurr 
)
virtual

Implements SubjectToInitialAssembly.

Definition at line 432 of file accj.cc.

References VariableSubMatrixHandler::SetNullMatrix().

434 {
435  WorkMat.SetNullMatrix();
436  return WorkMat;
437 }
VariableSubMatrixHandler::SetNullMatrix
void SetNullMatrix(void)
Definition: submat.h:1159

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

Implements SubjectToInitialAssembly.

Definition at line 442 of file accj.cc.

References VectorHandler::Resize().

444 {
445  WorkVec.Resize(0);
446  return WorkVec;
447 }
VectorHandler::Resize
virtual void Resize(integer iNewSize)=0

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void AngularAccelerationJoint::InitialWorkSpaceDim ( integer *  piNumRows,
integer *  piNumCols 
) const
virtual

Implements SubjectToInitialAssembly.

Definition at line 422 of file accj.cc.

424 {
425  *piNumRows = 0;
426  *piNumCols = 0;
427 }
void AngularAccelerationJoint::Output ( OutputHandler &  OH) const
virtual

Reimplemented from ToBeOutput.

Definition at line 394 of file accj.cc.

References DriveOwner::dGet(), Dir, dM, WithLabel::GetLabel(), OutputHandler::Joints(), Joint::Output(), and Zero3.

395 {
396  Joint::Output(OH.Joints(), "AngularAcc", GetLabel(),
397  Vec3(dM, 0., 0.), Zero3, Dir*dM, Zero3)
398  << " " << dGet() << std::endl;
399 }
Zero3
const Vec3 Zero3(0., 0., 0.)
Vec3
Definition: matvec3.h:98
DriveOwner::dGet
doublereal dGet(void) const
Definition: drive.cc:671
OutputHandler::Joints
std::ostream & Joints(void) const
Definition: output.h:443
Joint::Output
std::ostream & Output(std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const
Definition: joint.cc:138
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Implements Elem.

Definition at line 299 of file accj.cc.

300 {
301  return out << "Not implemented yet!" << std::endl;
302 }
void AngularAccelerationJoint::SetValue ( DataManager *  pDM,
VectorHandler &  X,
VectorHandler &  ,
SimulationEntity::Hints *  ph = 0 
)
virtual

Reimplemented from Joint.

Definition at line 402 of file accj.cc.

References Dir, StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), and pNode.

405 {
406  // TODO: hints (e.g. get drive, get orientation)
407  integer iIndex = iGetFirstIndex();
408 
409  // inherit initial angular velocity from node's
410  const Vec3& W(pNode->GetWCurr());
411  Vec3 TmpDir(pNode->GetRCurr()*Dir);
412  X(iIndex + 1) = TmpDir*W;
413 }
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
AngularAccelerationJoint::pNode
const StructNode * pNode
Definition: accj.h:126
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
integer
long int integer
Definition: colamd.c:51

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void AngularAccelerationJoint::WorkSpaceDim ( integer *  piNumRows,
integer *  piNumCols 
) const
virtual

Implements Elem.

Definition at line 326 of file accj.cc.

328 {
329  *piNumRows = 5;
330  *piNumCols = 5;
331 }

Member Data Documentation

Vec3 AngularAccelerationJoint::Dir
private

Definition at line 127 of file accj.h.

Referenced by AngularAccelerationJoint(), AssJac(), AssRes(), Output(), and SetValue().

doublereal AngularAccelerationJoint::dM
private

Definition at line 128 of file accj.h.

Referenced by AssRes(), dGetPrivData(), and Output().

const StructNode* AngularAccelerationJoint::pNode
private

Definition at line 126 of file accj.h.

Referenced by AngularAccelerationJoint(), AssJac(), AssRes(), GetConnectedNodes(), and SetValue().

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