#include <drvhinge.h>

Inheritance diagram for DriveHingeJoint:

Collaboration diagram for DriveHingeJoint:

Public Member Functions
	DriveHingeJoint (unsigned int uL, const DofOwner pDO, const TplDriveCaller< Vec3 > pDC, const StructNode pN1, const StructNode pN2, const Mat3x3 &R1, const Mat3x3 &R2, flag fOut)

virtual	~DriveHingeJoint (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

const Mat3x3	R1h

const Mat3x3	R2h

Mat3x3	R1Ref

Mat3x3	RRef

Vec3	ThetaRef

Vec3	ThetaCurr

Vec3	M

bool	bFirstRes

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 44 of file drvhinge.h.

Constructor & Destructor Documentation

DriveHingeJoint::DriveHingeJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const TplDriveCaller< Vec3 > *	pDC,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	R1,
		const Mat3x3 &	R2,
		flag	fOut
	)

Definition at line 44 of file drvhinge.cc.

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

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 TplDriveOwner<Vec3>(pDC),
 pNode1(pN1), pNode2(pN2), R1h(R1), R2h(R2),
 R1Ref(Eye3),
 RRef(Eye3),
 ThetaRef(Zero3),
 ThetaCurr(Zero3),
 M(Zero3),
 bFirstRes(false)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 }

Here is the call graph for this function:

DriveHingeJoint::~DriveHingeJoint ( void )

virtual

Definition at line 71 of file drvhinge.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 391 of file drvhinge.cc.

References bFirstRes, RotManip::DRot_I(), StructNode::GetRRef(), pNode1, pNode2, R1h, R1Ref, R2h, RRef, ThetaCurr, ThetaRef, Mat3x3::Transpose(), and RotManip::VecRot().

 {
         /* Recupera i dati */
         R1Ref = pNode1->GetRRef()*R1h;
         Mat3x3 R1T = R1Ref.Transpose();
         Mat3x3 RD(R1T*pNode2->GetRRef()*R2h);
 
         /* Calcola la deformazione corrente nel sistema locale (nodo a) */
         ThetaCurr = ThetaRef = RotManip::VecRot(RD);
 
         /* Calcola l'inversa di Gamma di ThetaRef */
         Mat3x3 GammaRefm1 = RotManip::DRot_I(ThetaRef);
 
         /* Contributo alla linearizzazione ... */
         RRef = GammaRefm1*R1T;
 
         /* Flag di aggiornamento dopo la predizione */
         bFirstRes = true;
 }

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 352 of file drvhinge.cc.

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

 {
         DEBUGCOUT("Entering DriveHingeJoint::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() + 3;
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

Here is the call graph for this function:

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

protected

Definition at line 414 of file drvhinge.cc.

References FullSubMatrixHandler::Add(), M, MatCross, R1Ref, RRef, and FullSubMatrixHandler::Sub().

Referenced by AssJac().

 {
         Mat3x3 MCross(MatCross, R1Ref*(M*dCoef));
 
         WM.Add(1, 1, MCross);
         WM.Sub(4, 1, MCross);
 
         WM.Sub(1, 7, R1Ref);
         WM.Add(4, 7, R1Ref);
 
         WM.Sub(7, 1, RRef);
         WM.Add(7, 4, RRef);
 }

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 431 of file drvhinge.cc.

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

 {
         DEBUGCOUT("Entering DriveHingeJoint::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() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         M = Vec3(XCurr, iFirstReactionIndex+1);
 
         AssVec(WorkVec, dCoef);
 
         return WorkVec;
 }

Here is the call graph for this function:

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

protected

Definition at line 465 of file drvhinge.cc.

References VectorHandler::Add(), ASSERT, bFirstRes, TplDriveOwner< Vec3 >::Get(), StructNode::GetRCurr(), M, pNode1, pNode2, R1h, R2h, VectorHandler::Sub(), ThetaCurr, and RotManip::VecRot().

Referenced by AssRes().

 {
         Mat3x3 R1(pNode1->GetRCurr()*R1h);
 
         if (bFirstRes) {
                 /* La rotazione e' gia' stata aggiornata da AfterPredict */
                 bFirstRes = false;
 
         } else {
                 Mat3x3 R2(pNode2->GetRCurr()*R2h);
                 ThetaCurr = RotManip::VecRot(R1.Transpose()*R2);
         }
 
         Vec3 MTmp(R1*M);
 
         WorkVec.Add(1, MTmp);
         WorkVec.Sub(3 + 1, MTmp);
 
         ASSERT(dCoef != 0.);
         WorkVec.Add(6 + 1, (Get() - ThetaCurr)/dCoef);
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Elem.

Definition at line 174 of file drvhinge.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "reaction couples [mx,my,mz]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "reaction couple derivatives [mPx,mPy,mPz]" << std::endl;
         }
 
         return out;
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Elem.

Definition at line 198 of file drvhinge.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 << "DriveHingeJoint(" << 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();
         }
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Elem.

Definition at line 232 of file drvhinge.cc.

References DofOwnerOwner::iGetFirstIndex().

 {
         integer iIndex = iGetFirstIndex();
 
         out
                 << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                         "orientation constraints [gx1=gx2,gy1=gy2,gz1=gz2]" << std::endl;
 
         if (bInitial) {
                 iIndex += 3;
                 out
                         << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                 "angular velocity constraints [wx1=wx2,wy1=wy2,wz1=wz2]" << std::endl;
         }
 
         return out;
 
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Elem.

Definition at line 253 of file drvhinge.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 << "DriveHingeJoint(" << 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();
         }
 }

Here is the call graph for this function:

doublereal DriveHingeJoint::dGetPrivData ( unsigned int i = 0 ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 329 of file drvhinge.cc.

References ASSERT, Vec3::dGet(), TplDriveOwner< Vec3 >::Get(), M, 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 M(i - 3);
 
         default:
                 ASSERT(0);
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 }

Here is the call graph for this function:

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

inlinevirtual

Reimplemented from Elem.

Definition at line 180 of file drvhinge.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 122 of file drvhinge.h.

References DofOrder::ALGEBRAIC, and ASSERT.

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

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

inlinevirtual

Implements Joint.

Definition at line 82 of file drvhinge.h.

References Joint::DRIVEHINGE.

                                                    {
                 return DRIVEHINGE;
         };

virtual unsigned int DriveHingeJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 150 of file drvhinge.h.

                                                            { 
                 return 6;
         };

virtual unsigned int DriveHingeJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 98 of file drvhinge.h.

                                                     { 
                 return 3;
         };

unsigned int DriveHingeJoint::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 288 of file drvhinge.cc.

 {
         return 6;
 };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 294 of file drvhinge.cc.

References ASSERT.

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

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 490 of file drvhinge.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, StructNode::GetRRef(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, MatCross, pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

 {
         DEBUGCOUT("Entering DriveHingeJoint::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() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
         integer iReactionPrimeIndex = iFirstReactionIndex + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode1FirstVelIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutRowIndex(9 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutColIndex(9 + iCnt, iNode2FirstVelIndex + iCnt);
                 WM.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutRowIndex(15 + iCnt, iReactionPrimeIndex + iCnt);
                 WM.PutColIndex(15 + iCnt, iReactionPrimeIndex + iCnt);
         }
 
         Mat3x3 Ra(pNode1->GetRRef()*R1h);
         Mat3x3 RaT(Ra.Transpose());
         Vec3 Wa(pNode1->GetWRef());
         Vec3 Wb(pNode2->GetWRef());
 
         Mat3x3 MTmp(MatCross, M);
         Mat3x3 MPrimeTmp(MatCross, Ra*Vec3(XCurr, iReactionPrimeIndex + 1));
 
         WM.Add(1, 1, MTmp);
         WM.Add(3 + 1, 3 + 1, MTmp);
         WM.Sub(6 + 1, 1, MTmp);
         WM.Sub(9 + 1, 3 + 1, MTmp);
 
         MTmp = Wa.Cross(MTmp) + MPrimeTmp;
         WM.Add(3 + 1, 1, MTmp);
         WM.Sub(9 + 1, 1, MTmp);
 
         WM.Add(6 + 1, 12 + 1, Ra);
         WM.Add(9 + 1, 15 + 1, Ra);
         WM.Sub(1, 12 + 1, Ra);
         WM.Sub(3 + 1, 15 + 1, Ra);
 
         MTmp = Wa.Cross(Ra);
         WM.Add(9 + 1, 12 + 1, MTmp);
         WM.Sub(3 + 1, 12 + 1, MTmp);
 
         WM.Add(12 + 1, 6 + 1, RaT);
         WM.Sub(12 + 1, 1, RaT);
         WM.Sub(15 + 1, 3 + 1, RaT);
         WM.Add(15 + 1, 9 + 1, RaT);
         WM.Add(15 + 1, 1, RaT*Mat3x3(MatCross, Wb - Wa));
 
         return WorkMat;
 }

Here is the call graph for this function:

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 565 of file drvhinge.cc.

References VectorHandler::Add(), TplDriveOwner< Vec3 >::bIsDifferentiable(), DEBUGCOUT, TplDriveOwner< Vec3 >::Get(), TplDriveOwner< Vec3 >::GetP(), StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, pNode1, pNode2, SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), VectorHandler::Sub(), ThetaCurr, and RotManip::VecRot().

 {
         DEBUGCOUT("Entering DriveHingeJoint::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() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         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 <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode1FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(9 + iCnt, iNode2FirstVelIndex + iCnt);
                 WorkVec.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WorkVec.PutRowIndex(15 + iCnt, iReactionPrimeIndex + iCnt);
         }
 
         Mat3x3 R1(pNode1->GetRCurr()*R1h);
         Mat3x3 R1T(R1.Transpose());
         Vec3 Wa(pNode1->GetWCurr());
         Vec3 Wb(pNode2->GetWCurr());
 
         M = Vec3(XCurr, iFirstReactionIndex+1);
         Vec3 MPrime = Vec3(XCurr, iReactionPrimeIndex+1);
 
         Vec3 MTmp(R1*M);
         Vec3 MPrimeTmp(Wa.Cross(MTmp) + R1*MPrime);
 
         Mat3x3 R2(pNode2->GetRCurr()*R2h);
         ThetaCurr = RotManip::VecRot(R1T*R2);
 
         Vec3 ThetaPrime = R1T*(Wb-Wa);
 
         WorkVec.Add(1, MTmp);
         WorkVec.Add(3 + 1, MPrimeTmp);
         WorkVec.Sub(6 + 1, MTmp);
         WorkVec.Sub(9 + 1, MPrimeTmp);
         WorkVec.Add(12 + 1, Get() - ThetaCurr);
         if (bIsDifferentiable()) {
                 ThetaPrime -= GetP();
         }
         WorkVec.Sub(15 + 1, ThetaPrime);
 
         return WorkVec;
 }

Here is the call graph for this function:

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 154 of file drvhinge.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                   { 
                 *piNumRows = 18; 
                 *piNumCols = 18;
         };

void DriveHingeJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 94 of file drvhinge.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), M, MatR2EulerAngles(), Joint::Output(), pNode1, pNode2, R1h, R2h, ThetaCurr, and Zero3.

 {
         if (bToBeOutput()) {
                 Mat3x3 R1(pNode1->GetRCurr()*R1h);
                 Vec3 d(MatR2EulerAngles(R1.Transpose()*(pNode2->GetRCurr()*R2h)));
                 Joint::Output(OH.Joints(), "DriveHinge", GetLabel(),
                                 Zero3, M, Zero3, R1*M)
                         << " " << d*dRaDegr
                         << " " << ThetaCurr << std::endl;
         }
 }

Here is the call graph for this function:

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

virtual

Reimplemented from SimulationEntity.

Definition at line 150 of file drvhinge.cc.

References SimulationEntity::ParseHint(), and STRLENOF.

 {
         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>;
                 }
         }
 
         /* take care of "drive" hint... */
         return SimulationEntity::ParseHint(pDM, s);
 }

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 79 of file drvhinge.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), TplDriveOwner< Vec3 >::pGetDriveCaller(), pNode1, pNode2, R1h, R2h, TplDriveCaller< T >::Restart(), Joint::Restart(), and Write().

 {
         Joint::Restart(out) << ", drive hinge, "
                 << pNode1->GetLabel() << ", reference, node, 1, ",
                 (R1h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
                 << pNode2->GetLabel() << ", reference, node, 1, ",
                 (R2h.GetVec(1)).Write(out, ", ")
                 << ", 2, ", (R2h.GetVec(2)).Write(out, ", ") << ", ",
                 pGetDriveCaller()->Restart(out) << ';' << std::endl;
         return out;
 }

Here is the call graph for this function:

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

virtual

Reimplemented from Joint.

Definition at line 107 of file drvhinge.cc.

References StructNode::GetRCurr(), MBDYN_EXCEPT_ARGS, TplDriveHint< T >::pCreateDrive(), pNode1, pNode2, R1h, R2h, 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::HingeHint<1> *>(pjh)) {
                                         (Mat3x3&)R1h = pNode1->GetRCurr().Transpose()*pNode2->GetRCurr()*R2h;
 
                                 } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                         (Mat3x3&)R2h = pNode2->GetRCurr().Transpose()*pNode1->GetRCurr()*R1h;
 
                                 } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                         /* TODO */
                                 }
                                 continue;
                         }
 
                         TplDriveHint<Vec3> *pdh = dynamic_cast<TplDriveHint<Vec3> *>((*ph)[i]);
 
                         if (pdh) {
                                 pedantic_cout("DriveHingeJoint(" << uLabel << "): "
                                         "creating drive from hint[" << i << "]..." << std::endl);
 
                                 TplDriveCaller<Vec3> *pDC = pdh->pCreateDrive(pDM);
                                 if (pDC == 0) {
                                         silent_cerr("DriveHingeJoint(" << uLabel << "): "
                                                 "unable to create drive "
                                                 "after hint #" << i << std::endl);
                                         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                                 }
 
                                 TplDriveOwner<Vec3>::Set(pDC);
                                 continue;
                         }
                 }
         }
 }

Here is the call graph for this function:

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

inlinevirtual

Implements Elem.

Definition at line 127 of file drvhinge.h.

Referenced by AssJac(), and AssRes().

                                                   { 
                 *piNumRows = 9;
                 *piNumCols = 9; 
         };

Member Data Documentation

bool DriveHingeJoint::bFirstRes

protected

Definition at line 62 of file drvhinge.h.

Referenced by AfterPredict(), and AssVec().

Vec3 DriveHingeJoint::M

protected

Definition at line 60 of file drvhinge.h.

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

const StructNode* DriveHingeJoint::pNode1

protected

Definition at line 49 of file drvhinge.h.

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

const StructNode* DriveHingeJoint::pNode2

protected

Definition at line 50 of file drvhinge.h.

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

const Mat3x3 DriveHingeJoint::R1h

protected

Definition at line 51 of file drvhinge.h.

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

Mat3x3 DriveHingeJoint::R1Ref

protected

Definition at line 54 of file drvhinge.h.

Referenced by AfterPredict(), and AssMat().

const Mat3x3 DriveHingeJoint::R2h

protected

Definition at line 52 of file drvhinge.h.

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

Mat3x3 DriveHingeJoint::RRef

protected

Definition at line 55 of file drvhinge.h.

Referenced by AfterPredict(), and AssMat().

Vec3 DriveHingeJoint::ThetaCurr

protected

Definition at line 58 of file drvhinge.h.

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

Vec3 DriveHingeJoint::ThetaRef

protected

Definition at line 57 of file drvhinge.h.

Referenced by AfterPredict().

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