#include <vehj2.h>

Inheritance diagram for DeformableDispJoint:

Collaboration diagram for DeformableDispJoint:

Public Member Functions
	DeformableDispJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1, const Mat3x3 &tilde_R2, flag fOut)

virtual	~DeformableDispJoint (void)

virtual Joint::Type	GetJointType (void) const

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

void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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

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

virtual ConstLawType::Type	GetConstLawType (void) const =0

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual bool	bInverseDynamics (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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

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 SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)=0

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 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 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 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)

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const =0

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)=0

virtual SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)=0

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (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 std::ostream &	OutputAppend (std::ostream &out) const

Protected Member Functions
void	AssMatF (FullSubMatrixHandler &WMA, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

void	AssMatFDE (FullSubMatrixHandler &WMA, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

void	AssMatFDEPrime (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const Vec3 &d1, const Vec3 &d2, doublereal dCoef)

virtual void	AssMats (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)=0

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
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	tilde_f1

Vec3	tilde_f2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

Vec3	tilde_R1hT_tilde_f1

Vec3	tilde_d

Vec3	tilde_dPrime

bool	bFirstRes

Vec3	F

Mat3x3	FDE

Mat3x3	FDEPrime

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 ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

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 }

Detailed Description

Definition at line 43 of file vehj2.h.

Constructor & Destructor Documentation

DeformableDispJoint::DeformableDispJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw3D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	tilde_f1,
		const Vec3 &	tilde_f2,
		const Mat3x3 &	tilde_R1,
		const Mat3x3 &	tilde_R2,
		flag	fOut
	)

Definition at line 43 of file vehj2.cc.

References ASSERT, StructDispNode::GetNodeType(), pNode1, pNode2, and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw3DOwner(pCL),
 pNode1(pN1), pNode2(pN2),
 tilde_f1(tilde_f1), tilde_f2(tilde_f2),
 tilde_R1h(tilde_R1h), tilde_R2h(tilde_R2h),
 tilde_R1hT_tilde_f1(tilde_R1h.Transpose()*tilde_f1),
 tilde_d(Zero3), tilde_dPrime(Zero3),
 # ifdef USE_NETCDF
 Var_tilde_d(0),
 Var_tilde_dPrime(0),
 Var_d(0),
 Var_dPrime(0),
 #endif // USE_NETCDF
 bFirstRes(false), F(Zero3)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

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DeformableDispJoint::~DeformableDispJoint ( void )

virtual

Definition at line 76 of file vehj2.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 248 of file vehj2.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

Referenced by ElasticDispJoint::AssJac().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMats(WM, WM, dCoef);
 
         return WorkMat;
 }

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void DeformableDispJoint::AssMatF	(	FullSubMatrixHandler &	WMA,
		const Vec3 &	d1,
		const Vec3 &	d2,
		doublereal	dCoef
	)

protected

Definition at line 83 of file vehj2.cc.

References FullSubMatrixHandler::Add(), F, MatCross, MatCrossCross, and FullSubMatrixHandler::Sub().

Referenced by ElasticDispJoint::AssMats(), ElasticDispJointInv::AssMats(), ViscousDispJoint::AssMats(), and ViscoElasticDispJoint::AssMats().

 {
         /* force */
         Vec3 FTmp(F*dCoef);
 
         /* - [ F x ] * dCoef */
         Mat3x3 MTmp(MatCross, FTmp);
         WMA.Add(1, 4, MTmp);
         WMA.Sub(6 + 1, 4, MTmp);
         WMA.Sub(4, 1, MTmp);
         WMA.Add(4, 6 + 1, MTmp);
 
         /* [ di x ] [ F x ] * dCoef */
         WMA.Add(4, 4, Mat3x3(MatCrossCross, d1, FTmp));
         WMA.Sub(6 + 4, 4, Mat3x3(MatCrossCross, d2, FTmp));
 
         /* [ F x ] [ d2 x ] * dCoef */
         MTmp = Mat3x3(MatCrossCross, FTmp, d2);
         WMA.Sub(4, 6 + 4, MTmp);
         WMA.Add(6 + 4, 6 + 4, MTmp);
 }

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void DeformableDispJoint::AssMatFDE	(	FullSubMatrixHandler &	WMA,
		const Vec3 &	d1,
		const Vec3 &	d2,
		doublereal	dCoef
	)

protected

Definition at line 108 of file vehj2.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), FDE, MatCross, and FullSubMatrixHandler::Sub().

Referenced by ElasticDispJoint::AssMats(), ElasticDispJointInv::AssMats(), and ViscoElasticDispJoint::AssMats().

 {
         /* F/d */
         Mat3x3 DTmp(FDE*dCoef);
 
         /* Force equations */
 
         /* delta x1 */
         WMA.Add(1, 1, DTmp);
         WMA.Sub(6 + 1, 1, DTmp);
 
         /* delta x2 */
         WMA.Sub(1, 6 + 1, DTmp);
         WMA.Add(6 + 1, 6 + 1, DTmp);
 
         /* delta g1 */
         Mat3x3 MTmp(DTmp*Mat3x3(MatCross, d1));
         WMA.Sub(1, 4, MTmp);
         WMA.Add(6 + 1, 4, MTmp);
 
         /* delta g2 */
         MTmp = DTmp*Mat3x3(MatCross, d2);
         WMA.Add(1, 6 + 4, MTmp);
         WMA.Sub(6 + 1, 6 + 4, MTmp);
 
         /* Moment equation on node 1 */
         /* d1 x F/d */
         MTmp = d1.Cross(DTmp);
 
         /* delta x1 */
         WMA.Add(4, 1, MTmp);
 
         /* delta x2 */
         WMA.Sub(4, 6 + 1, MTmp);
 
         /* delta g1 */
         WMA.Sub(4, 4, MTmp*Mat3x3(MatCross, d1));
 
         /* delta g2 */
         WMA.Add(4, 6 + 4, MTmp*Mat3x3(MatCross, d2));
 
         /* Moment equation on node 2 */
         MTmp = d2.Cross(DTmp);
 
         /* delta x1 */
         WMA.Sub(6 + 4, 1, MTmp);
 
         /* delta x2 */
         WMA.Add(6 + 4, 6 + 1, MTmp);
 
         /* delta g1 */
         WMA.Add(6 + 4, 4, MTmp*Mat3x3(MatCross, d1));
 
         /* delta g2 */
         WMA.Sub(6 + 4, 6 + 4, MTmp*Mat3x3(MatCross, d2));
 }

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void DeformableDispJoint::AssMatFDEPrime	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		const Vec3 &	d1,
		const Vec3 &	d2,
		doublereal	dCoef
	)

protected

Definition at line 168 of file vehj2.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), FDEPrime, StructDispNode::GetVCurr(), StructNode::GetWCurr(), MatCross, MatCrossCross, pNode1, pNode2, and FullSubMatrixHandler::Sub().

Referenced by ViscousDispJoint::AssMats(), and ViscoElasticDispJoint::AssMats().

 {
         /* F/dot{d} */
         WMB.Add(1, 1, FDEPrime);
         WMB.Sub(6 + 1, 1, FDEPrime);
         WMB.Sub(1, 6 + 1, FDEPrime);
         WMB.Add(6 + 1, 6 + 1, FDEPrime);
 
         Mat3x3 MTmp(d1.Cross(FDEPrime));
 
         WMB.Add(4, 1, MTmp);
         WMB.Sub(4, 6 + 1, MTmp);
 
         MTmp = d2.Cross(FDEPrime);
 
         WMB.Sub(6 + 4, 1, MTmp);
         WMB.Add(6 + 4, 6 + 1, MTmp);
 
         /* F/dot{d} * [ d2 x ] */
         MTmp = FDEPrime*Mat3x3(MatCross, d2);
 
         WMB.Add(1, 6 + 4, MTmp);
         WMB.Sub(6 + 1, 6 + 4, MTmp);
 
         WMB.Add(4, 6 + 4, d1.Cross(MTmp));
         WMB.Sub(6 + 4, 6 + 4, d2.Cross(MTmp));
 
         /* F/dot{d} * [ d1 x ] */
         MTmp = FDEPrime*Mat3x3(MatCross, d1);
 
         WMB.Sub(1, 4, MTmp);
         WMB.Add(6 + 1, 4, MTmp);
 
         WMB.Sub(4, 4, d1.Cross(MTmp));
         WMB.Add(6 + 4, 4, d2.Cross(MTmp));
 
         /* F/dot{d} * [ ( w1 * dCoef ) x ] */
         Mat3x3 CTmp = FDEPrime*Mat3x3(MatCross, pNode1->GetWCurr()*dCoef);
 
         WMA.Sub(1, 1, CTmp);
         WMA.Add(6 + 1, 1, CTmp);
         WMA.Add(1, 6 + 1, CTmp);
         WMA.Sub(6 + 1, 6 + 1, CTmp);
 
         MTmp = d1.Cross(CTmp);
 
         WMA.Sub(4, 1, MTmp);
         WMA.Add(4, 6 + 1, MTmp);
 
         MTmp = d2.Cross(CTmp);
 
         WMA.Add(6 + 4, 1, MTmp);
         WMA.Sub(6 + 4, 6 + 1, MTmp);
 
         /* F/dot{d} * ( [ d1Prime x ] - [ w1 x ] [ d1 x ] ) * dCoef */
         Vec3 d1Prime(pNode2->GetVCurr()
                 + pNode2->GetWCurr().Cross(d2)
                 - pNode1->GetVCurr());
         MTmp = FDEPrime*(Mat3x3(MatCross, d1Prime*dCoef) - Mat3x3(MatCrossCross, pNode1->GetWCurr(), d1*dCoef));
         WMA.Sub(1, 4, MTmp);
         WMA.Add(6 + 1, 4, MTmp);
 
         WMA.Sub(4, 4, d1.Cross(MTmp));
         WMA.Add(6 + 4, 4, d2.Cross(MTmp));
 
         /* F/dot{d} * ( [ ( w2 x d2 ) x ] - [ w1 x ] [ d2 x ] ) * dCoef */
         Vec3 d2Prime(pNode2->GetWCurr().Cross(d2));
         MTmp = FDEPrime*(Mat3x3(MatCross, d2Prime*dCoef)
                 - Mat3x3(MatCrossCross, pNode1->GetWCurr(), d2*dCoef));
         WMA.Add(1, 6 + 4, MTmp);
         WMA.Sub(6 + 1, 6 + 4, MTmp);
 
         WMA.Add(4, 6 + 4, d1.Cross(MTmp));
         WMA.Sub(6 + 4, 6 + 4, d2.Cross(MTmp));
 }

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virtual void DeformableDispJoint::AssMats	(	FullSubMatrixHandler &	WMA,
		FullSubMatrixHandler &	WMB,
		doublereal	dCoef
	)

protectedpure virtual

Implemented in ViscoElasticDispJoint, ViscousDispJoint, ElasticDispJointInv, and ElasticDispJoint.

Referenced by AssJac(), and AssMats().

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

virtual

Reimplemented from Elem.

Reimplemented in ElasticDispJointInv, and ElasticDispJoint.

Definition at line 282 of file vehj2.cc.

References AssMats(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
         WMB.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMA.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMA.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
 
                 WMB.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMB.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMB.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMB.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMats(WMA, WMB, 1.);
 }

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bool DeformableDispJoint::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 478 of file vehj2.cc.

 {
         return true;
 }

doublereal DeformableDispJoint::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 543 of file vehj2.cc.

References ASSERT, Vec3::Cross(), ConstitutiveLawOwner< T, Tder >::dGetPrivData(), ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), iGetNumPrivData(), pNode1, pNode2, tilde_d, tilde_dPrime, tilde_f2, tilde_R1h, and tilde_R1hT_tilde_f1.

 {
         ASSERT(i > 0);
 
         ASSERT(i <= iGetNumPrivData());
 
         switch (i) {
         case 1:
         case 2:
         case 3:
         {
                 /* FIXME: allows simplifications by using only the column
                  * and the components of tilde_R1h that is actually required */
                 Vec3 d2(pNode2->GetRCurr()*tilde_f2);
                 Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
                 Vec3 tilde_d(R1h.MulTV(pNode2->GetXCurr() + d2 - pNode1->GetXCurr()) - tilde_R1hT_tilde_f1);
                 return tilde_d(i);
         }
 
         case 4:
         case 5:
         case 6:
         {
                 Vec3 d2(pNode2->GetRCurr()*tilde_f2);
                 Mat3x3 R1h(pNode1->GetRCurr());
                 Vec3 d1(pNode2->GetXCurr() + d2 - pNode1->GetXCurr());
                 Vec3 d1Prime(pNode2->GetVCurr() + pNode2->GetWCurr().Cross(d2) - pNode1->GetVCurr());
                 Vec3 tilde_dPrime(R1h.MulTV(d1Prime - pNode1->GetWCurr().Cross(d1)));
 
                 return tilde_dPrime(i - 3);
         }
 
         case 7:
         case 8:
         case 9:
                 return GetF()(i - 6);
 
         default:
                 return ConstitutiveLaw3DOwner::dGetPrivData(i - 9);
         }
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 167 of file vehj2.h.

References pNode1, and pNode2.

                                                                          {
                 connectedNodes.resize(2);
                 connectedNodes[0] = pNode1;
                 connectedNodes[1] = pNode2;
         };

virtual ConstLawType::Type DeformableDispJoint::GetConstLawType ( void ) const

pure virtual

Implemented in ViscoElasticDispJoint, ViscousDispJoint, ElasticDispJointInv, and ElasticDispJoint.

Referenced by Output().

virtual DofOrder::Order DeformableDispJoint::GetDofType ( unsigned int ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 127 of file vehj2.h.

References DofOrder::UNKNOWN.

                                                                 {
                 return DofOrder::UNKNOWN;
         };

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

inlinevirtual

Implements Joint.

Definition at line 103 of file vehj2.h.

References Joint::DEFORMABLEDISPJOINT.

                                                    {
                 return Joint::DEFORMABLEDISPJOINT;
         };

virtual unsigned int DeformableDispJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 141 of file vehj2.h.

                                                            {
                 return 0;
         };

virtual unsigned int DeformableDispJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 123 of file vehj2.h.

                                                     {
                 return 0;
         };

unsigned int DeformableDispJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 484 of file vehj2.cc.

References ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

Referenced by dGetPrivData().

 {
         return 9 + ConstitutiveLaw3DOwner::iGetNumPrivData();
 }

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

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 490 of file vehj2.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::iGetPrivDataIdx(), and STRLENOF.

 {
         ASSERT(s != NULL);
 
         unsigned idx = 0;
 
         switch (s[0]) {
         case 'd':
                 break;
 
         case 'v':
                 idx += 3;
                 break;
 
         case 'F':
                 idx += 6;
                 break;
 
         default:
         {
                 size_t l = STRLENOF("constitutiveLaw.");
                 if (strncmp(s, "constitutiveLaw.", l) == 0) {
                         idx = ConstitutiveLaw3DOwner::iGetPrivDataIdx(&s[l]);
                         if (idx > 0) {
                                 return 9 + idx;
                         }
                 }
                 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;
 }

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void DeformableDispJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 359 of file vehj2.cc.

References ToBeOutput::bToBeOutput(), GetConstLawType(), OutputHandler::GetCurrentStep(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::JOINTS, OutputHandler::Joints(), Joint::Output(), Vec3::pGetVec(), pNode1, tilde_d, tilde_dPrime, tilde_R1h, OutputHandler::UseNetCDF(), OutputHandler::UseText(), ConstLawType::VISCOUS, and Zero3.

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                         Var_F_local->put_rec(GetF().pGetVec(), OH.GetCurrentStep());
                         Var_M_local->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                         Var_F_global->put_rec((pNode1->GetRCurr()*(tilde_R1h*GetF())).pGetVec(), 
                                         OH.GetCurrentStep());
                         Var_M_global->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                         Var_tilde_d->put_rec(tilde_d.pGetVec(), OH.GetCurrentStep());
                         Var_d->put_rec((pNode1->GetRCurr()*(tilde_R1h*tilde_d)).pGetVec(), 
                                         OH.GetCurrentStep());
                         if (GetConstLawType() & ConstLawType::VISCOUS) {
                                 Var_tilde_dPrime->put_rec(tilde_dPrime.pGetVec(), 
                                                 OH.GetCurrentStep());
                                 Var_dPrime->put_rec((pNode1->GetRCurr()*(tilde_R1h*tilde_dPrime)).pGetVec(),
                                                 OH.GetCurrentStep());
                         } else {
                                 Var_tilde_dPrime->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                                 Var_dPrime->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
                         }
                 }
 #endif // USE_NETCDF
 
                 if (OH.UseText(OutputHandler::JOINTS)) {
                         Joint::Output(OH.Joints(), "DeformableDispJoint", GetLabel(),
                                         GetF(), Zero3,
                                 pNode1->GetRCurr()*(tilde_R1h*GetF()), Zero3)
                                 << " " << tilde_d;
                         if (GetConstLawType() & ConstLawType::VISCOUS) {
                                 OH.Joints() << " " << tilde_dPrime;
                         }
                         OH.Joints() << std::endl;
                 }
         }
 }

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void DeformableDispJoint::OutputPrepare ( OutputHandler & OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 337 of file vehj2.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::JOINTS, Joint::OutputPrepare_int(), and OutputHandler::UseNetCDF().

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                         std::string name;
                         OutputPrepare_int("deformable displacement", OH, name);
 
                         Var_tilde_d = OH.CreateVar<Vec3>(name + "d", "m",
                                         "relative position in local frame (x, y, z)");
                         Var_tilde_dPrime = OH.CreateVar<Vec3>(name + "dPrime", "m/s",
                                         "relative linear velocity in local frame (x, y, z)");
                         Var_d = OH.CreateVar<Vec3>(name + "D", "m",
                                         "relative position in global frame (x, y, z)");
                         Var_dPrime = OH.CreateVar<Vec3>(name + "DPrime", "m/s",
                                         "relative linear velocity in global frame (x, y, z)");
                 }
 #endif // USE_NETCDF
         }
 }

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Hint * DeformableDispJoint::ParseHint	(	DataManager *	pDM,
		const char *	s
	)		const

virtual

Reimplemented from SimulationEntity.

Definition at line 439 of file vehj2.cc.

References SimulationEntity::ParseHint(), and STRLENOF.

 {
         if (strncasecmp(s, "offset{" /*}*/ , STRLENOF("offset{" /*}*/ )) == 0)
         {
                 s += STRLENOF("offset{" /*}*/ );
 
                 if (strcmp(&s[1], /*{*/ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::OffsetHint<1>;
 
                 case '2':
                         return new Joint::OffsetHint<2>;
                 }
 
         } else if (strncasecmp(s, "hinge{" /*}*/, STRLENOF("hinge{" /*}*/)) == 0) {
                 s += STRLENOF("hinge{" /*}*/);
 
                 if (strcmp(&s[1], /* { */ "}") != 0) {
                         return 0;
                 }
 
                 switch (s[0]) {
                 case '1':
                         return new Joint::HingeHint<1>;
 
                 case '2':
                         return new Joint::HingeHint<2>;
                 }
         }
 
         return ConstitutiveLaw3DOwner::ParseHint(pDM, s);
 }

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

virtual

Implements Elem.

Definition at line 321 of file vehj2.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode1, pNode2, Joint::Restart(), tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, Write(), and Vec3::Write().

 {
         Joint::Restart(out) << ", deformable displacement joint, "
                 << pNode1->GetLabel() << ", reference, node, ",
         tilde_f1.Write(out, ", ") << ", hinge, reference, node, 1, ",
         (tilde_R1h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", reference, node, ",
         tilde_f2.Write(out, ", ") << ", hinge, reference, node, 1, ",
         (tilde_R2h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (tilde_R2h.GetVec(2)).Write(out, ", ") << ", ";
 
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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

virtual

Reimplemented from Joint.

Definition at line 398 of file vehj2.cc.

References StructNode::GetRCurr(), StructDispNode::GetXCurr(), pNode1, pNode2, SimulationEntity::SetValue(), tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, and Mat3x3::Transpose().

 {
         if (ph) {
                 for (unsigned i = 0; i < ph->size(); i++) {
                         Joint::JointHint *pjh = dynamic_cast<Joint::JointHint *>((*ph)[i]);
 
                         if (pjh) {
                                 if (dynamic_cast<Joint::OffsetHint<1> *>(pjh)) {
                                         Mat3x3 R1T(pNode1->GetRCurr().Transpose());
                                         Vec3 f2(pNode2->GetRCurr()*tilde_f2);
          
                                         tilde_f1 = R1T*(pNode2->GetXCurr() + f2 - pNode1->GetXCurr());
         
                                 } else if (dynamic_cast<Joint::OffsetHint<2> *>(pjh)) {
                                         Mat3x3 R2T(pNode2->GetRCurr().Transpose());
                                         Vec3 f1(pNode1->GetRCurr()*tilde_f1);
          
                                         tilde_f2 = R2T*(pNode1->GetXCurr() + f1 - pNode2->GetXCurr());
         
                                 } else if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
                                         tilde_R1h = pNode1->GetRCurr().Transpose()*pNode2->GetRCurr()*tilde_R2h;
         
                                 } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                         tilde_R2h = pNode2->GetRCurr().Transpose()*pNode1->GetRCurr()*tilde_R1h;
         
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
 
                                 continue;
                         }
 
                         /* else, pass to constitutive law */
                         ConstitutiveLaw3DOwner::SetValue(pDM, X, XP, ph);
                 }
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 132 of file vehj2.h.

Referenced by AssJac(), and AssMats().

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

Member Data Documentation

bool DeformableDispJoint::bFirstRes

protected

Definition at line 57 of file vehj2.h.

Referenced by ElasticDispJoint::AfterPredict(), ElasticDispJointInv::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ElasticDispJoint::AssRes(), ElasticDispJointInv::AssRes(), ViscousDispJoint::AssRes(), ViscoElasticDispJoint::AssRes(), ElasticDispJoint::AssVec(), ElasticDispJointInv::AssVec(), ViscousDispJoint::AssVec(), and ViscoElasticDispJoint::AssVec().

Vec3 DeformableDispJoint::F

protected

Definition at line 59 of file vehj2.h.

Referenced by AssMatF(), ElasticDispJoint::AssVec(), ElasticDispJointInv::AssVec(), ViscousDispJoint::AssVec(), ViscoElasticDispJoint::AssVec(), ViscousDispJoint::InitialAssJac(), ViscoElasticDispJoint::InitialAssJac(), ViscousDispJoint::InitialAssRes(), and ViscoElasticDispJoint::InitialAssRes().

Mat3x3 DeformableDispJoint::FDE

protected

Definition at line 61 of file vehj2.h.

Referenced by ElasticDispJoint::AfterPredict(), ElasticDispJointInv::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), AssMatFDE(), ElasticDispJoint::ElasticDispJoint(), ElasticDispJointInv::ElasticDispJointInv(), ViscoElasticDispJoint::InitialAssJac(), and ViscoElasticDispJoint::ViscoElasticDispJoint().

Mat3x3 DeformableDispJoint::FDEPrime

protected

Definition at line 62 of file vehj2.h.

Referenced by ViscousDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), AssMatFDEPrime(), ViscousDispJoint::InitialAssJac(), ViscoElasticDispJoint::InitialAssJac(), ViscoElasticDispJoint::ViscoElasticDispJoint(), and ViscousDispJoint::ViscousDispJoint().

const StructNode* DeformableDispJoint::pNode1

protected

Definition at line 46 of file vehj2.h.

Referenced by ElasticDispJoint::AfterPredict(), ElasticDispJointInv::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), AssJac(), AssMatFDEPrime(), AssMats(), ElasticDispJoint::AssMats(), ElasticDispJointInv::AssMats(), ViscousDispJoint::AssMats(), ViscoElasticDispJoint::AssMats(), ElasticDispJoint::AssRes(), ElasticDispJointInv::AssRes(), ViscousDispJoint::AssRes(), ViscoElasticDispJoint::AssRes(), ElasticDispJoint::AssVec(), ElasticDispJointInv::AssVec(), ViscousDispJoint::AssVec(), ViscoElasticDispJoint::AssVec(), DeformableDispJoint(), dGetPrivData(), ElasticDispJoint::ElasticDispJoint(), ElasticDispJointInv::ElasticDispJointInv(), GetConnectedNodes(), ElasticDispJoint::InitialAssJac(), ElasticDispJointInv::InitialAssJac(), ViscousDispJoint::InitialAssJac(), ViscoElasticDispJoint::InitialAssJac(), ElasticDispJoint::InitialAssRes(), ElasticDispJointInv::InitialAssRes(), ViscousDispJoint::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), Output(), Restart(), SetValue(), ViscoElasticDispJoint::ViscoElasticDispJoint(), and ViscousDispJoint::ViscousDispJoint().

const StructNode* DeformableDispJoint::pNode2

protected

Definition at line 47 of file vehj2.h.

Vec3 DeformableDispJoint::tilde_d

protected

Definition at line 54 of file vehj2.h.

Referenced by ElasticDispJoint::AfterConvergence(), ElasticDispJointInv::AfterConvergence(), ViscousDispJoint::AfterConvergence(), ViscoElasticDispJoint::AfterConvergence(), ElasticDispJoint::AfterPredict(), ElasticDispJointInv::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ElasticDispJoint::AssVec(), ElasticDispJointInv::AssVec(), ViscoElasticDispJoint::AssVec(), dGetPrivData(), ViscousDispJoint::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), and Output().

Vec3 DeformableDispJoint::tilde_dPrime

protected

Definition at line 55 of file vehj2.h.

Referenced by ViscousDispJoint::AfterConvergence(), ViscoElasticDispJoint::AfterConvergence(), ViscousDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ViscousDispJoint::AssVec(), ViscoElasticDispJoint::AssVec(), dGetPrivData(), ViscousDispJoint::InitialAssRes(), ViscoElasticDispJoint::InitialAssRes(), and Output().

Vec3 DeformableDispJoint::tilde_f1

mutableprotected

Definition at line 48 of file vehj2.h.

Referenced by ElasticDispJointInv::AfterPredict(), ElasticDispJointInv::AssVec(), Restart(), and SetValue().

Vec3 DeformableDispJoint::tilde_f2

mutableprotected

Definition at line 49 of file vehj2.h.

Referenced by ElasticDispJoint::AfterPredict(), ElasticDispJointInv::AfterPredict(), ViscousDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ElasticDispJoint::AssMats(), ElasticDispJointInv::AssMats(), ViscousDispJoint::AssMats(), ViscoElasticDispJoint::AssMats(), ElasticDispJoint::AssVec(), ElasticDispJointInv::AssVec(), ViscousDispJoint::AssVec(), ViscoElasticDispJoint::AssVec(), dGetPrivData(), ViscoElasticDispJoint::InitialAssRes(), Restart(), and SetValue().

Vec3 DeformableDispJoint::tilde_R1hT_tilde_f1

mutableprotected

Definition at line 52 of file vehj2.h.

Referenced by ElasticDispJoint::AfterPredict(), ViscoElasticDispJoint::AfterPredict(), ElasticDispJoint::AssVec(), ViscoElasticDispJoint::AssVec(), dGetPrivData(), and ViscoElasticDispJoint::InitialAssRes().

Mat3x3 DeformableDispJoint::tilde_R2h

mutableprotected

Definition at line 51 of file vehj2.h.

Referenced by ElasticDispJointInv::AfterPredict(), ElasticDispJointInv::AssVec(), Restart(), and SetValue().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation