#include <drvdisp.h>

Inheritance diagram for DriveDisplacementJoint:

Collaboration diagram for DriveDisplacementJoint:

Public Member Functions
	DriveDisplacementJoint (unsigned int uL, const DofOwner pDO, const TplDriveCaller< Vec3 > pDC, const StructNode pN1, const StructNode pN2, const Vec3 &f1, const Vec3 &f2, flag fOut)

virtual	~DriveDisplacementJoint (void)

virtual Joint::Type	GetJointType (void) const

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

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 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 void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual unsigned int	iGetNumPrivData (void) const

unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i=0) 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 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 void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

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 TplDriveOwner< Vec3 >
	TplDriveOwner (const TplDriveCaller< Vec3 > *pDC=0)

virtual	~TplDriveOwner (void)

void	Set (const TplDriveCaller< Vec3 > *pDC)

TplDriveCaller< Vec3 > *	pGetDriveCaller (void) const

Vec3	Get (const doublereal &dVar) const

Vec3	Get (void) const

virtual bool	bIsDifferentiable (void) const

virtual Vec3	GetP (void) const

Protected Member Functions
void	AssMat (FullSubMatrixHandler &WM, doublereal dCoef)

void	AssVec (SubVectorHandler &WorkVec, doublereal dCoef)

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	f1

Vec3	f2

Mat3x3	R1Ref

Mat3x3	RRef

Vec3	f2Ref

Vec3	dRef

Vec3	F

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 TplDriveOwner< Vec3 >
TplDriveCaller< Vec3 > *	pTplDriveCaller

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 42 of file drvdisp.h.

Constructor & Destructor Documentation

DriveDisplacementJoint::DriveDisplacementJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const TplDriveCaller< Vec3 > *	pDC,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	f1,
		const Vec3 &	f2,
		flag	fOut
	)

Definition at line 43 of file drvdisp.cc.

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

 : Elem(uL, fOut), 
 Joint(uL, pDO, fOut), 
 TplDriveOwner<Vec3>(pDC),
 pNode1(pN1), pNode2(pN2), f1(f1), f2(f2), 
 R1Ref(Eye3),
 RRef(Eye3),
 f2Ref(Zero3),
 dRef(Zero3),
 F(Zero3)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

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DriveDisplacementJoint::~DriveDisplacementJoint ( void )

virtual

Definition at line 69 of file drvdisp.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void DriveDisplacementJoint::AfterPredict	(	VectorHandler &	X,
		VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 392 of file drvdisp.cc.

References dRef, f1, f2, f2Ref, TplDriveOwner< Vec3 >::Get(), StructNode::GetRRef(), pNode1, and pNode2.

 {
         /* Recupera i dati */
         f2Ref = pNode2->GetRRef()*f2;
         dRef = pNode1->GetRRef()*(f1 + Get());
 }

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

virtual

Implements Elem.

Definition at line 351 of file drvdisp.cc.

References AssMat(), DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering DriveDisplacementJoint::AssJac()" << std::endl);
 
         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();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* 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);
         }
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
    
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

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void DriveDisplacementJoint::AssMat	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protected

Definition at line 402 of file drvdisp.cc.

References FullSubMatrixHandler::Add(), FullSubMatrixHandler::DecCoef(), dRef, F, f2Ref, FullSubMatrixHandler::IncCoef(), MatCross, MatCrossCross, and FullSubMatrixHandler::Sub().

Referenced by AssJac().

 {
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* node 1 force */
                 WM.DecCoef(iCnt, 12 + iCnt, 1.);
                 /* node 2 force */
                 WM.IncCoef(6 + iCnt, 12 + iCnt, 1.);
 
                 /* node 1 constraint */
                 WM.DecCoef(12 + iCnt, iCnt, 1.);
                 /* node 2 constraint */
                 WM.IncCoef(12 + iCnt, 6 + iCnt, 1.);
         }
 
         Mat3x3 MTmp(MatCross, dRef);
 
         /* node 1 moment */
         WM.Sub(3 + 1, 12 + 1, MTmp);
         /* node 1 constraint */
         WM.Add(12 + 1, 3 + 1, MTmp);
 
         MTmp = Mat3x3(MatCross, f2Ref);
         /* node 2 moment */
         WM.Add(9 + 1, 12 + 1, MTmp);
         /* node 2 constraint */
         WM.Sub(12 + 1, 9 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, F, dRef*dCoef);
         /* node 1 moment */
         WM.Sub(3 + 1, 3 + 1, MTmp);
         
         MTmp = Mat3x3(MatCrossCross, F, f2Ref*dCoef);
         /* node 2 moment */
         WM.Add(9 + 1, 9 + 1, MTmp);
 }

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

virtual

Implements Elem.

Definition at line 441 of file drvdisp.cc.

References AssVec(), DEBUGCOUT, F, DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering DriveDisplacementJoint::AssRes()" << std::endl);   
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
 
         AssVec(WorkVec, dCoef);
 
         return WorkVec;
 }

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void DriveDisplacementJoint::AssVec	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef
	)

protected

Definition at line 478 of file drvdisp.cc.

References VectorHandler::Add(), ASSERT, Vec3::Cross(), F, f1, f2, TplDriveOwner< Vec3 >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), pNode1, pNode2, and VectorHandler::Sub().

Referenced by AssRes().

 {   
         Mat3x3 R1(pNode1->GetRCurr());
 
         Vec3 f2Tmp = pNode2->GetRCurr()*f2;
         Vec3 d = pNode1->GetRCurr()*(f1 + Get());
 
         WorkVec.Add(1, F);
         WorkVec.Add(3 + 1, d.Cross(F));
         WorkVec.Sub(6 + 1, F);
         WorkVec.Sub(9 + 1, f2Tmp.Cross(F));
         
         ASSERT(dCoef != 0.);
         WorkVec.Sub(12 + 1, (pNode2->GetXCurr() + f2Tmp - pNode1->GetXCurr() - d)/dCoef);
 }

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

virtual

Reimplemented from Elem.

Definition at line 175 of file drvdisp.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "reaction forces [fx,fy,fz]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "reaction force derivatives [fPx,fPy,fPz]" << std::endl;
         }
 
         return out;
 }

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

virtual

Reimplemented from Elem.

Definition at line 199 of file drvdisp.cc.

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

 {
         int iend = 1;
         if (i == -1) {
                 if (bInitial) {
                         iend = 6;
 
                 } else {
                         iend = 3;
                 }
         }
         desc.resize(iend);
 
         std::ostringstream os;
         os << "DriveDisplacementJoint(" << 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 & DriveDisplacementJoint::DescribeEq	(	std::ostream &	out,
		const char *	prefix = `""`,
		bool	bInitial = `false`
	)		const

virtual

Reimplemented from Elem.

Definition at line 233 of file drvdisp.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "position constraints [px1=px2,py1=py2,pz1=pz2]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "velocity constraints [vx1=vx2,vy1=vy2,vz1=vz2]" << std::endl;
         }
 
         return out;
 
 }

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

virtual

Reimplemented from Elem.

Definition at line 254 of file drvdisp.cc.

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

 {
         int iend = 1;
         if (i == -1) {
                 if (bInitial) {
                         iend = 6;
 
                 } else {
                         iend = 3;
                 }
         }
         desc.resize(iend);
 
         std::ostringstream os;
         os << "DriveDisplacementJoint(" << 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 DriveDisplacementJoint::dGetPrivData ( unsigned int i = 0 ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 330 of file drvdisp.cc.

References ASSERT, Vec3::dGet(), F, TplDriveOwner< Vec3 >::Get(), and MBDYN_EXCEPT_ARGS.

 {
         ASSERT(i >= 1 && i <= 6);
 
         switch (i) {
         case 1:
         case 2:
         case 3:
                 return Get().dGet(i);
 
         case 4:
         case 5:
         case 6:
                 return F(i - 3);
         }
 
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 177 of file drvdisp.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 118 of file drvdisp.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                                                {
                 ASSERT(i >= 0 && i <= 3);
                 return DofOrder::ALGEBRAIC;
         };

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

inlinevirtual

Implements Joint.

Definition at line 78 of file drvdisp.h.

References Joint::DRIVEDISP.

                                                    {
                 return DRIVEDISP;
         };

virtual unsigned int DriveDisplacementJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 146 of file drvdisp.h.

                                                            { 
                 return 6;
         };

virtual unsigned int DriveDisplacementJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 94 of file drvdisp.h.

                                                     { 
                 return 3;
         };

unsigned int DriveDisplacementJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 289 of file drvdisp.cc.

 {
         return 6;
 };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 295 of file drvdisp.cc.

References ASSERT.

 {
         ASSERT(s != NULL);
         ASSERT(s[0] != '\0');
 
         if (s[2] != '\0') {
                 return 0;
         }
 
         unsigned int idx = 0;
 
         switch (s[0]) {
         case 'f':
                 idx += 3;
                 /* fallthru */
         case 'd':
                 break;
 
         default:
                 return 0;
         }
 
         switch (s[1]) {
         case 'x':
                 return idx + 1;
         case 'y':
                 return idx + 2;
         case 'z':
                 return idx + 3;
         }
 
         return 0;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 497 of file drvdisp.cc.

References FullSubMatrixHandler::Add(), TplDriveOwner< Vec3 >::bIsDifferentiable(), DEBUGCOUT, FullSubMatrixHandler::DecCoef(), dRef, F, f2Ref, TplDriveOwner< Vec3 >::GetP(), StructNode::GetRCurr(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), FullSubMatrixHandler::IncCoef(), InitialWorkSpaceDim(), MatCross, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

 {
         DEBUGCOUT("Entering DriveDisplacementJoint::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;   
         integer iFirstReactionPrimeIndex = iFirstReactionIndex + 3;   
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutColIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutRowIndex(24 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(24 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         Vec3 FPrime = Vec3(XCurr, iFirstReactionPrimeIndex + 1);
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* node 1 force */
                 WM.DecCoef(iCnt, 24 + iCnt, 1.);
                 /* node 2 force */
                 WM.IncCoef(12 + iCnt, 24 + iCnt, 1.);
 
                 /* node 1 force derivative */
                 WM.DecCoef(6 + iCnt, 27 + iCnt, 1.);
                 /* node 2 force derivative */
                 WM.IncCoef(18 + iCnt, 27 + iCnt, 1.);
 
                 /* node 1 constraint */
                 WM.DecCoef(24 + iCnt, iCnt, 1.);
                 /* node 2 constraint */
                 WM.IncCoef(24 + iCnt, 12 + iCnt, 1.);
 
                 /* node 1 constraint derivative */
                 WM.DecCoef(27 + iCnt, 6 + iCnt, 1.);
                 /* node 2 constraint derivative */
                 WM.IncCoef(27 + iCnt, 18 + iCnt, 1.);
         }
 
         Mat3x3 MTmp(MatCross, dRef);
 
         /* node 1 moment */
         WM.Sub(3 + 1, 24 + 1, MTmp);
         /* node 1 moment derivative */
         WM.Sub(9 + 1, 27 + 1, MTmp);
         /* node 1 constraint */
         WM.Add(24 + 1, 3 + 1, MTmp);
         /* node 1 constraint derivative */
         WM.Add(27 + 1, 9 + 1, MTmp);
 
         /* in case the drive is differentiable... */
         if (bIsDifferentiable()) {
                 WM.Add(27 + 1, 3 + 1, Mat3x3(MatCross, pNode1->GetRCurr()*GetP()));
         }
 
         MTmp = Mat3x3(MatCross, f2Ref);
         /* node 2 moment */
         WM.Add(15 + 1, 24 + 1, MTmp);
         /* node 2 moment derivatives */
         WM.Add(21 + 1, 27 + 1, MTmp);
         /* node 2 constraint */
         WM.Sub(24 + 1, 15 + 1, MTmp);
         /* node 2 constraint derivative */
         WM.Sub(27 + 1, 21 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, F, dRef);
         /* node 1 moment */
         WM.Sub(3 + 1, 3 + 1, MTmp);
         
         MTmp = Mat3x3(MatCrossCross, FPrime, dRef);
         /* node 1 moment derivative */
         WM.Sub(9 + 1, 9 + 1, MTmp);
         
         MTmp = Mat3x3(MatCrossCross, F, f2Ref);
         /* node 2 moment */
         WM.Add(15 + 1, 15 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, FPrime, f2Ref);
         /* node 2 moment derivative */
         WM.Add(21 + 1, 21 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, pNode1->GetWRef(), dRef);
         /* node 2 constraint derivative */
         WM.Sub(27 + 1, 3 + 1, MTmp);
 
         MTmp = Mat3x3(MatCrossCross, pNode2->GetWRef(), f2Ref);
         /* node 2 constraint derivative */
         WM.Add(27 + 1, 15 + 1, MTmp);
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 612 of file drvdisp.cc.

References VectorHandler::Add(), TplDriveOwner< Vec3 >::bIsDifferentiable(), Vec3::Cross(), DEBUGCOUT, dRef, F, f1, f2, f2Ref, TplDriveOwner< Vec3 >::Get(), TplDriveOwner< Vec3 >::GetP(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and VectorHandler::Sub().

 {
         DEBUGCOUT("Entering DriveDisplacementJoint::InitialAssRes()" << std::endl);   
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iReactionPrimeIndex = iFirstReactionIndex + 3;
 
         /* Setta gli indici del vettore */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(24 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         Vec3 FPrime = Vec3(XCurr, iReactionPrimeIndex + 1);
 
         dRef = pNode1->GetRCurr()*(f1 + Get());
         f2Ref = pNode2->GetRCurr()*f2;
 
         WorkVec.Add(1, F);
         WorkVec.Add(3 + 1, dRef.Cross(F));
         WorkVec.Add(6 + 1, FPrime);
         WorkVec.Add(9 + 1, dRef.Cross(FPrime));
 
         WorkVec.Sub(12 + 1, F);
         WorkVec.Sub(15 + 1, f2Ref.Cross(F));
         WorkVec.Sub(18 + 1, FPrime);
         WorkVec.Sub(21 + 1, f2Ref.Cross(FPrime));
 
         WorkVec.Add(24 + 1, pNode1->GetXCurr() + dRef - pNode2->GetXCurr() - f2Ref);
 
         /* in case the drive is differentiable... */
         Vec3 PhiPrime = pNode1->GetVCurr() + pNode1->GetWCurr().Cross(dRef)
                         - pNode2->GetVCurr() + pNode2->GetWCurr().Cross(f2Ref);
         if (bIsDifferentiable()) {
                 PhiPrime += pNode1->GetRCurr()*GetP();
         }
         WorkVec.Add(27 + 1, PhiPrime);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 150 of file drvdisp.h.

Referenced by InitialAssJac(), and InitialAssRes().

         { 
                 *piNumRows = 30; 
                 *piNumCols = 30;
         };

void DriveDisplacementJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 90 of file drvdisp.cc.

References ToBeOutput::bToBeOutput(), F, f1, f2, WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), OutputHandler::Joints(), Joint::Output(), pNode1, pNode2, Mat3x3::Transpose(), and Zero3.

 {   
         if (bToBeOutput()) {
                 Vec3 d(pNode2->GetXCurr() + pNode2->GetRCurr()*f2
                         - pNode1->GetXCurr() - pNode1->GetRCurr()*f1);
                 Joint::Output(OH.Joints(), "DriveDisplacementJoint", GetLabel(),
                                 pNode1->GetRCurr().Transpose()*F, Zero3, F, Zero3)
                         << " " << d << std::endl;
         }
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 151 of file drvdisp.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>;
                 }
         }
 
         /* take care of "drive" hint... */
         return SimulationEntity::ParseHint(pDM, s);
 }

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

virtual

Implements Elem.

Definition at line 77 of file drvdisp.cc.

References f1, f2, WithLabel::GetLabel(), TplDriveOwner< Vec3 >::pGetDriveCaller(), pNode1, pNode2, TplDriveCaller< T >::Restart(), Joint::Restart(), and Vec3::Write().

 {
         Joint::Restart(out) << ", drive displacement, "
                 << pNode1->GetLabel() << ", reference, node, ",
                 f1.Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", reference, node, ",
                 f2.Write(out, ", ") << ", ",
                 pGetDriveCaller()->Restart(out) << ';' << std::endl;
         return out;
 }

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

virtual

Reimplemented from Joint.

Definition at line 102 of file drvdisp.cc.

References f1, f2, TplDriveOwner< Vec3 >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, TplDriveHint< T >::pCreateDrive(), pNode1, pNode2, TplDriveOwner< T >::Set(), Mat3x3::Transpose(), and WithLabel::uLabel.

 {
         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 fTmp2(pNode2->GetRCurr()*f2);
    
                                         f1 = R1t*(pNode2->GetXCurr() + fTmp2 - pNode1->GetXCurr() - Get());
 
                                 } else if (dynamic_cast<Joint::OffsetHint<2> *>(pjh)) {
                                         Mat3x3 R2t(pNode2->GetRCurr().Transpose());
                                         Vec3 fTmp1(pNode1->GetRCurr()*f1);
    
                                         f2 = R2t*(pNode1->GetXCurr() + fTmp1 - pNode2->GetXCurr() + Get());
 
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
                                 continue;
                         }
 
                         TplDriveHint<Vec3> *pdh = dynamic_cast<TplDriveHint<Vec3> *>((*ph)[i]);
 
                         if (pdh) {
                                 pedantic_cout("DriveDisplacementJoint(" << uLabel << "): "
                                         "creating drive from hint[" << i << "]..." << std::endl);
 
                                 TplDriveCaller<Vec3> *pDC = pdh->pCreateDrive(pDM);
                                 if (pDC == 0) {
                                         silent_cerr("DriveDisplacementJoint(" << uLabel << "): "
                                                 "unable to create drive "
                                                 "after hint #" << i << std::endl);
                                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                                 }
                                 
                                 TplDriveOwner<Vec3>::Set(pDC);
                                 continue;
                         }
                 }
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 123 of file drvdisp.h.

Referenced by AssJac(), and AssRes().

                                                   { 
                 *piNumRows = 15;
                 *piNumCols = 15; 
         };

Member Data Documentation

Vec3 DriveDisplacementJoint::dRef

protected

Definition at line 56 of file drvdisp.h.

Referenced by AfterPredict(), AssMat(), InitialAssJac(), and InitialAssRes().

Vec3 DriveDisplacementJoint::F

protected

Definition at line 58 of file drvdisp.h.

Referenced by AssMat(), AssRes(), AssVec(), dGetPrivData(), InitialAssJac(), InitialAssRes(), and Output().

Vec3 DriveDisplacementJoint::f1

mutableprotected

Definition at line 49 of file drvdisp.h.

Referenced by AfterPredict(), AssVec(), InitialAssRes(), Output(), Restart(), and SetValue().

Vec3 DriveDisplacementJoint::f2

mutableprotected

Definition at line 50 of file drvdisp.h.

Referenced by AfterPredict(), AssVec(), InitialAssRes(), Output(), Restart(), and SetValue().

Vec3 DriveDisplacementJoint::f2Ref

protected

Definition at line 55 of file drvdisp.h.

Referenced by AfterPredict(), AssMat(), InitialAssJac(), and InitialAssRes().

const StructNode* DriveDisplacementJoint::pNode1

protected

Definition at line 47 of file drvdisp.h.

Referenced by AfterPredict(), AssJac(), AssRes(), AssVec(), DriveDisplacementJoint(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

const StructNode* DriveDisplacementJoint::pNode2

protected

Definition at line 48 of file drvdisp.h.

Referenced by AfterPredict(), AssJac(), AssRes(), AssVec(), DriveDisplacementJoint(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Mat3x3 DriveDisplacementJoint::R1Ref

protected

Definition at line 52 of file drvdisp.h.

Mat3x3 DriveDisplacementJoint::RRef

protected

Definition at line 53 of file drvdisp.h.

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