ClampJoint Class Reference

#include <genj.h>

Inheritance diagram for ClampJoint:

Collaboration diagram for ClampJoint:

Public Member Functions
	ClampJoint (unsigned int uL, const DofOwner *pD, const StructNode *pN, const Vec3 &X0, const Mat3x3 &R0, flag fOut)
virtual	~ClampJoint (void)
virtual Joint::Type	GetJointType (void) const
void	ReadInitialState (MBDynParser &HP)
virtual std::ostream &	Restart (std::ostream &out) const
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 i) const
virtual DofOrder::Order	GetEqType (unsigned int i) const
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual bool	bInverseDynamics (void) const
SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
virtual void	Output (OutputHandler &OH) const
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 void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
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)
void	SetInverseDynamicsFlags (unsigned uIDF)
unsigned	GetInverseDynamicsFlags (void) const
bool	bIsErgonomy (void) const
bool	bIsRightHandSide (void) const
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 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
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 &)
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)

Private Attributes
const StructNode *	pNode
Vec3	XClamp
Mat3x3	RClamp
Vec3	F
Vec3	M

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

Detailed Description

Definition at line 242 of file genj.h.

Constructor & Destructor Documentation

ClampJoint::ClampJoint	(	unsigned int	uL,
		const DofOwner *	pD,
		const StructNode *	pN,
		const Vec3 &	X0,
		const Mat3x3 &	R0,
		flag	fOut
	)

Definition at line 1212 of file genj.cc.

References NO_OP.

: Elem(uL, fOut),
Joint(uL, pD, fOut),
pNode(pN), XClamp(X0), RClamp(R0), F(Zero3), M(Zero3)
{
   NO_OP;
}

ClampJoint::~ClampJoint ( void  )

virtual

Definition at line 1224 of file genj.cc.

References NO_OP.

{
   NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 1378 of file genj.cc.

References DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

Referenced by AssMats().

{
        DEBUGCOUT("Entering ClampJoint::AssJac()" << std::endl);

        SparseSubMatrixHandler& WM = WorkMat.SetSparse();

        /* Dimensiona e resetta la matrice di lavoro */
        WM.ResizeReset(12, 1);

        integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
        integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
        integer iFirstReactionIndex = iGetFirstIndex();

        /* Attenzione: modifico dividendo le equazioni di vincolo per dCoef */
        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WM.PutItem(iCnt, iFirstReactionIndex + iCnt,
                        iFirstPositionIndex + iCnt, 1.);
                WM.PutItem(6 + iCnt, iFirstMomentumIndex + iCnt,
                        iFirstReactionIndex + iCnt, 1.);
        }

        /* Con l'aggiunta dei nodi statici non occorre piu' evitare la
         * singolarita' della matrice */

        return WorkMat;
}

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VariableSubMatrixHandler & ClampJoint::AssJac ( VariableSubMatrixHandler &  WorkMat, const VectorHandler &  XCurr  )

virtual

Reimplemented from Elem.

Definition at line 1410 of file genj.cc.

References DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

{
        DEBUGCOUT("Entering ClampJoint::AssJac()" << std::endl);

        SparseSubMatrixHandler& WM = WorkMat.SetSparse();

        /* Dimensiona e resetta la matrice di lavoro */
        WM.ResizeReset(6, 1);

        integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
        integer iFirstReactionIndex = iGetFirstIndex();

        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WM.PutItem(iCnt, iFirstReactionIndex + iCnt,
                        iFirstPositionIndex + iCnt, 1.);
        }

        return WorkMat;
}

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

virtual

Reimplemented from Elem.

Definition at line 1433 of file genj.cc.

References AssJac(), DEBUGCOUT, and VariableSubMatrixHandler::SetNullMatrix().

{
        DEBUGCOUT("Entering ClampJoint::AssMats(); will result in call to AssJac()"
                << std::endl);

        WorkMatA.SetNullMatrix();
        AssJac(WorkMatB, 1., XCurr, XPrimeCurr);
}

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

virtual

Implements Elem.

Definition at line 1447 of file genj.cc.

References ASSERT, DEBUGCOUT, F, StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), M, Mat3x3::MulMT(), pNode, SubVectorHandler::PutRowIndex(), R, RClamp, VectorHandler::ResizeReset(), VectorHandler::Sub(), RotManip::VecRot(), and XClamp.

{
        DEBUGCOUT("Entering ClampJoint::AssRes()" << std::endl);

        WorkVec.ResizeReset(12);

        /* Indici delle incognite del nodo e delle reazioni */
        integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
        integer iFirstReactionIndex = iGetFirstIndex();
        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
        }

        /* Aggiorna le reazioni vincolari */
        F = Vec3(XCurr, iFirstReactionIndex + 1);
        M = Vec3(XCurr, iFirstReactionIndex + 3 + 1);

        /* Calcola posizione e parametri di rotazione */
        const Vec3& x(pNode->GetXCurr());
        const Mat3x3& R(pNode->GetRCurr());

        Vec3 theta_c(RotManip::VecRot(R.MulMT(RClamp)));

        /* Residuo della riga di equilibrio */
        WorkVec.Sub(1, F);
        WorkVec.Sub(3 + 1, M);

        /* Modifica: divido le equazioni di vincolo per dCoef */
        ASSERT(dCoef != 0.);
        /* Residuo dell'equazione di vincolo */
        WorkVec.Sub(6 + 1, (x - XClamp)/dCoef);
        WorkVec.Sub(9 + 1, theta_c/dCoef);

        return WorkVec;
}

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SubVectorHandler & ClampJoint::AssRes ( SubVectorHandler &  WorkVec, const VectorHandler &  XCurr, const VectorHandler &  XPrimeCurr, const VectorHandler &  XPrimePrimeCurr, InverseDynamics::Order  iOrder = InverseDynamics::INVERSE_DYNAMICS  )

virtual

Reimplemented from Elem.

Definition at line 1496 of file genj.cc.

References DEBUGCOUT, StructNode::GetRCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Mat3x3::MulMT(), pNode, InverseDynamics::POSITION, SubVectorHandler::PutRowIndex(), R, RClamp, VectorHandler::Resize(), VectorHandler::ResizeReset(), VectorHandler::Sub(), RotManip::VecRot(), and XClamp.

{
        DEBUGCOUT("Entering ClampJoint::AssRes()" << std::endl);

        /* The residual is != 0 only for position */
        if (iOrder == InverseDynamics::POSITION) {
                WorkVec.ResizeReset(6);

                /* FIXME: Indici delle incognite */
                integer iFirstReactionIndex = iGetFirstIndex();
                for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                        WorkVec.PutRowIndex(iCnt, iFirstReactionIndex+iCnt);
                }

                /* Calcola posizione e parametri di rotazione */
                const Vec3& x(pNode->GetXCurr());
                const Mat3x3& R(pNode->GetRCurr());

                Vec3 theta_c(RotManip::VecRot(R.MulMT(RClamp)));

                /* Residuo dell'equazione di vincolo */
                WorkVec.Sub(1, x - XClamp);
                WorkVec.Sub(3 + 1, theta_c);

        } else {
                WorkVec.Resize(0);
        }

        return WorkVec;
}

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bool ClampJoint::bInverseDynamics ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 1489 of file genj.cc.

{
        return true;
}

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

virtual

Reimplemented from Elem.

Definition at line 1231 of file genj.cc.

References DofOwnerOwner::iGetFirstIndex().

{
        integer iIndex = iGetFirstIndex();

        out
                << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                        "reaction forces [Fx,Fy,Fz]" << std::endl
                << prefix << iIndex + 4 << "->" << iIndex + 6 << ": "
                        "reaction couples [mx,my,mz]" << std::endl;

        if (bInitial) {
                iIndex += 6;
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "reaction force derivatives [FPx,FPy,FPz]" << std::endl
                        << prefix << iIndex + 4 << "->" << iIndex + 6 << ": "
                                "reaction couple derivatives [mPx,mPy,mPz]" << std::endl;
        }

        return out;
}

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

virtual

Reimplemented from Elem.

Definition at line 1268 of file genj.cc.

References dof, WithLabel::GetLabel(), and xyz.

{
        int iend = 1;
        if (i == -1) {
                if (bInitial) {
                        iend = 12;

                } else {
                        iend = 6;
                }
        }
        desc.resize(iend);

        std::ostringstream os;
        os << "ClampJoint(" << GetLabel() << ")";

        if (i == -1) {
                std::string name = os.str();
                for (i = 0; i < iend; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": " << dof[i/3] << xyz[i%3];

                        desc[i] = os.str();
                }

        } else {
                os << ": " << dof[i/3] << xyz[i%3];
                desc[0] = os.str();
        }
}

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

virtual

Reimplemented from Elem.

Definition at line 1302 of file genj.cc.

References DofOwnerOwner::iGetFirstIndex().

{
        integer iIndex = iGetFirstIndex();

        out
                << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                        "position constraints [Px=Px0,Py=Py0,Pz=Pz0]" << std::endl
                << prefix << iIndex + 4 << "->" << iIndex + 6 << ": "
                        "orientation constraints [thetax=thetax0,thetay=thetay0,thetaz=thetaz0]" << std::endl;

        if (bInitial) {
                iIndex += 6;
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "velocity constraints [vx=0,vy=0,vz=0]" << std::endl
                        << prefix << iIndex + 4 << "->" << iIndex + 6 << ": "
                                "angular velocity constraints [wx=0,wy=0,wz=0]" << std::endl;
        }

        return out;
}

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

virtual

Reimplemented from Elem.

Definition at line 1325 of file genj.cc.

References eq, WithLabel::GetLabel(), and xyz.

{
        int iend = 1;
        if (i == -1) {
                if (bInitial) {
                        iend = 12;

                } else {
                        iend = 6;
                }
        }
        desc.resize(iend);

        std::ostringstream os;
        os << "ClampJoint(" << GetLabel() << ")";

        if (i == -1) {
                std::string name = os.str();
                for (i = 0; i < iend; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": " << eq[i/3] << xyz[i%3];

                        desc[i] = os.str();
                }

        } else {
                os << ": " << eq[i/3] << xyz[i%3];
                desc[0] = os.str();
        }
}

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doublereal ClampJoint::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 1716 of file genj.cc.

References F, M, and MBDYN_EXCEPT_ARGS.

{
        if (i >= 1 && i <= 3) {
                return F(i);
        }

        if (i >= 4 && i <= 6) {
                return M(i - 3);
        }

        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
}

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

inlinevirtual

Reimplemented from Elem.

Definition at line 364 of file genj.h.

References pNode.

                                                                                 {
     connectedNodes.resize(1);
     connectedNodes[0] = pNode;
   };

virtual DofOrder::Order ClampJoint::GetDofType ( unsigned int  i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 283 of file genj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

   {
      ASSERT(i >= 0 && i < 6);
      return DofOrder::ALGEBRAIC;
   };

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

inlinevirtual

Reimplemented from SimulationEntity.

Definition at line 289 of file genj.h.

References DofOrder::ALGEBRAIC, ASSERT, and iGetNumDof().

                                                         {
      ASSERT(i >= 0 && i < iGetNumDof());
      return DofOrder::ALGEBRAIC;
   }

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virtual Joint::Type ClampJoint::GetJointType ( void  ) const

inlinevirtual

Implements Joint.

Definition at line 259 of file genj.h.

References Joint::CLAMP.

                                              {
      return Joint::CLAMP;
   };

virtual unsigned int ClampJoint::iGetInitialNumDof ( void  ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 338 of file genj.h.

{ return 12; };

virtual unsigned int ClampJoint::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 270 of file genj.h.

Referenced by GetEqType().

                                               {
      return 6;
   };

unsigned int ClampJoint::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 1667 of file genj.cc.

{
        return 6;
}

unsigned int ClampJoint::iGetPrivDataIdx ( const char *  s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 1673 of file genj.cc.

References ASSERT.

{
        ASSERT(s != NULL);

        unsigned int idx = 0;

        switch (s[0]) {
        case 'F':
                break;

        case 'M':
                idx += 3;
                break;

        default:
                return 0;
        }

        switch (s[1]) {
        case 'x':
                idx += 1;
                break;

        case 'y':
                idx += 2;
                break;

        case 'z':
                idx += 3;
                break;

        default:
                return 0;
        }

        if (s[2] != '\0') {
                return 0;
        }

        return idx;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1557 of file genj.cc.

References DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

{
   DEBUGCOUT("Entering ClampJoint::InitialAssJac()" << std::endl);

   SparseSubMatrixHandler& WM = WorkMat.SetSparse();
   WM.ResizeReset(24, 1);

   integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
   integer iFirstVelocityIndex = iFirstPositionIndex+6;
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+6;

   /*
    * x  |  0   0   0   0  -I   0   0   0 || Delta_x  |   |  f    |
    * g  |  0   0   0   0   0  -I   0   0 || Delta_g  |   |  m    |
    * xP |  0   0   0   0   0   0  -I   0 || Delta_xP |   |  fP   |
    * w  |  0   0   0   0   0   0   0  -I || Delta_w  |   |  mP   |
    * f  |  I   0   0   0   0   0   0   0 || Delta_f  | = |  X0-x |
    * m  |  0   I   0   0   0   0   0   0 || Delta_m  |   | -xP   |
    * fP |  0   0   I   0   0   0   0   0 || Delta_fP |   | -g    |
    * mP |  0   0   0   I   0   0   0   0 || Delta_mP |   | -w    |
    *
    *
    *
    */

   for (int iCnt = 1; iCnt <= 6; iCnt++) {
      WM.PutItem(iCnt, iFirstReactionIndex+iCnt,
                  iFirstPositionIndex+iCnt, 1.);

      WM.PutItem(6+iCnt, iReactionPrimeIndex+iCnt,
                  iFirstVelocityIndex+iCnt, 1.);

      WM.PutItem(12+iCnt, iFirstPositionIndex+iCnt,
                  iFirstReactionIndex+iCnt, 1.);

      WM.PutItem(18+iCnt, iFirstVelocityIndex+iCnt,
                  iReactionPrimeIndex+iCnt, 1.);
   }

   return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1604 of file genj.cc.

References DEBUGCOUT, StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), Mat3x3::MulMT(), CGR_Rot::Param, pNode, VectorHandler::Put(), SubVectorHandler::PutRowIndex(), R, RClamp, VectorHandler::ResizeReset(), and XClamp.

{
   DEBUGCOUT("Entering ClampJoint::InitialAssRes()" << std::endl);

   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   InitialWorkSpaceDim(&iNumRows, &iNumCols);
   WorkVec.ResizeReset(iNumRows);

   integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+6;

   for (int iCnt = 1; iCnt <= 12; iCnt++) {
      WorkVec.PutRowIndex(iCnt, iFirstPositionIndex+iCnt);
      WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
   }


   /* Forza */
   WorkVec.Put(1, -Vec3(XCurr, iFirstReactionIndex+1));

   /* Coppia */
   WorkVec.Put(4, -Vec3(XCurr, iFirstReactionIndex+4));

   /* Derivata della Forza */
   WorkVec.Put(7, -Vec3(XCurr, iReactionPrimeIndex+1));

   /* Derivata della Coppia */
   WorkVec.Put(10, -Vec3(XCurr, iReactionPrimeIndex+4));

   /* Posizione */
   WorkVec.Put(13, XClamp-pNode->GetXCurr());

   /* Parametri di rotazione */
   Mat3x3 R(pNode->GetRCurr());
   WorkVec.Put(16, -Vec3(CGR_Rot::Param, R.MulMT(RClamp)));

   /* Velocita' */
   WorkVec.Put(19, -pNode->GetVCurr());

   /* Velocita' angolare */
   WorkVec.Put(22, -pNode->GetWCurr());

   return WorkVec;
}

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 339 of file genj.h.

Referenced by InitialAssRes().

     { *piNumRows = 24; *piNumCols = 24; };

void ClampJoint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 1545 of file genj.cc.

References ToBeOutput::bToBeOutput(), F, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), M, Mat3x3::MulTV(), Joint::Output(), pNode, and R.

{
        if (bToBeOutput()) {
                const Mat3x3& R(pNode->GetRCurr());

                Joint::Output(OH.Joints(), "Clamp", GetLabel(),
                        R.MulTV(F), R.MulTV(M), F, M) << std::endl;
        }
}

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void ClampJoint::ReadInitialState ( MBDynParser &  HP )

virtual

Reimplemented from SimulationEntity.

Definition at line 1360 of file genj.cc.

References F, MBDynParser::GetVec3(), and M.

{
        F = HP.GetVec3();
        M = HP.GetVec3();
}

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

virtual

Implements Elem.

Definition at line 1368 of file genj.cc.

References F, WithLabel::GetLabel(), M, pNode, Joint::Restart(), and Vec3::Write().

{
        return Joint::Restart(out) << ", clamp, "
                << pNode->GetLabel() << ", node, node, "
                << "initial state, ", F.Write(out, ", ")
                << ", ", M.Write(out, ", ") << ';' << std::endl;
}

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void ClampJoint::SetValue ( DataManager *  pDM, VectorHandler &  X, VectorHandler &  XP, SimulationEntity::Hints *  ph = 0  )

virtual

Reimplemented from Joint.

Definition at line 1654 of file genj.cc.

References F, DofOwnerOwner::iGetFirstIndex(), M, and VectorHandler::Put().

{
        integer iFirstReactionIndex = iGetFirstIndex();
        X.Put(iFirstReactionIndex+1,F);
        X.Put(iFirstReactionIndex+4,M);
}

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void ClampJoint::Update ( const VectorHandler &  XCurr, InverseDynamics::Order  iOrder = InverseDynamics::INVERSE_DYNAMICS  )

virtual

Reimplemented from Joint.

Definition at line 1533 of file genj.cc.

References ASSERT, F, DofOwnerOwner::iGetFirstIndex(), InverseDynamics::INVERSE_DYNAMICS, and M.

{
        ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS);

        integer iFirstReactionIndex = iGetFirstIndex();

        /* Aggiorna le reazioni vincolari */
        F = Vec3(XCurr, iFirstReactionIndex + 1);
        M = Vec3(XCurr, iFirstReactionIndex + 4);
}

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

inlinevirtual

Implements Elem.

Definition at line 294 of file genj.h.

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

Member Data Documentation

Vec3 ClampJoint::F

private

Definition at line 247 of file genj.h.

Referenced by AssRes(), dGetPrivData(), Output(), ReadInitialState(), Restart(), SetValue(), and Update().

Vec3 ClampJoint::M

private

Definition at line 248 of file genj.h.

Referenced by AssRes(), dGetPrivData(), Output(), ReadInitialState(), Restart(), SetValue(), and Update().

const StructNode* ClampJoint::pNode

private

Definition at line 244 of file genj.h.

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

Mat3x3 ClampJoint::RClamp

private

Definition at line 246 of file genj.h.

Referenced by AssRes(), and InitialAssRes().

Vec3 ClampJoint::XClamp

private

Definition at line 245 of file genj.h.

Referenced by AssRes(), and InitialAssRes().

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

• genj.h
• genj.cc