#include <body.h>

Inheritance diagram for DynamicMass:

Collaboration diagram for DynamicMass:

Public Member Functions
	DynamicMass (unsigned int uL, const DynamicStructDispNode *pNode, doublereal dMassTmp, flag fOut)

virtual	~DynamicMass (void)

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

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

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

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) const

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

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

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

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

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

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

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

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 Mass
	Mass (unsigned int uL, const StructDispNode *pNode, doublereal dMassTmp, flag fOut)

virtual	~Mass (void)

doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

const StructDispNode *	pGetNode (void) const

virtual Elem::Type	GetElemType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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 ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

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 InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Private Member Functions
Vec3	GetB_int (void) const

void	AssMats (FullSubMatrixHandler &WorkMatA, FullSubMatrixHandler &WorkMatB, doublereal dCoef, bool bGravity, const Vec3 &GravityAcceleration)

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 }

Protected Member Functions inherited from Mass
Vec3	GetS_int (void) const

Mat3x3	GetJ_int (void) const

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

void	AssVecRBK_int (SubVectorHandler &WorkVec)

void	AssMatsRBK_int (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const doublereal &dCoef)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetG_int (void) const

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from Mass
const StructDispNode *	pNode

doublereal	dMass

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 118 of file body.h.

Constructor & Destructor Documentation

DynamicMass::DynamicMass	(	unsigned int	uL,
		const DynamicStructDispNode *	pNode,
		doublereal	dMassTmp,
		flag	fOut
	)

Definition at line 228 of file body.cc.

References NO_OP.

 : Elem(uL, fOut),
 Mass(uL, pNode, dMass, fOut)
 {
         NO_OP;
 }

DynamicMass::~DynamicMass ( void )

virtual

Definition at line 240 of file body.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 247 of file body.cc.

References AssMats(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, StructDispNode::GetXCurr(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), StructDispNode::pGetRBK(), Mass::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUTFNAME("DynamicMass::AssJac");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(),
                 GravityAcceleration);
 
         integer iNumRows = 3;
         if (pNode->pGetRBK()) {
                 iNumRows = 6;
         }
 
         /* Dimensiona e resetta la matrice di lavoro */
         WM.ResizeReset(iNumRows, 3);
 
         /* Setta gli indici della matrice - le incognite sono ordinate come:
          *   - posizione (3)
          *   - parametri di rotazione (3)
          *   - quantita' di moto (3)
          *   - momento della quantita' di moto
          * e gli indici sono consecutivi. La funzione pGetFirstPositionIndex()
          * ritorna il valore del primo indice -1, in modo che l'indice i-esimo
          * e' dato da iGetFirstPositionIndex()+i */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         if (iNumRows == 6) {
                 integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
                 for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                         WM.PutRowIndex(3 + iCnt, iFirstMomentumIndex + iCnt);
                 }
         }
 
         AssMats(WM, WM, dCoef, g, GravityAcceleration);
 
         return WorkMat;
 }

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void DynamicMass::AssMats	(	FullSubMatrixHandler &	WorkMatA,
		FullSubMatrixHandler &	WorkMatB,
		doublereal	dCoef,
		bool	bGravity,
		const Vec3 &	GravityAcceleration
	)

private

Definition at line 350 of file body.cc.

References Mass::AssMatsRBK_int(), DEBUGCOUTFNAME, Mass::dMass, FullSubMatrixHandler::IncCoef(), StructDispNode::pGetRBK(), and Mass::pNode.

Referenced by AssJac(), and AssMats().

 {
         DEBUGCOUTFNAME("DynamicMass::AssMats");
 
         /*
          * momentum:
          *
          * m * I DeltaV - S /\ DeltagP + ( S /\ W ) /\ Deltag
          */
         WMB.IncCoef(1, 1, dMass);
         WMB.IncCoef(2, 2, dMass);
         WMB.IncCoef(3, 3, dMass);
 
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
         if (pRBK) {
                 AssMatsRBK_int(WMA, WMB, dCoef);
         }
 }

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

virtual

Reimplemented from Elem.

Definition at line 297 of file body.cc.

References AssMats(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, StructDispNode::GetXCurr(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), Mass::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUTFNAME("DynamicMass::AssMats");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(),
                 GravityAcceleration);
 
         integer iNumRows = 3;
         if (g) {
                 iNumRows = 6;
         }
 
         /* Dimensiona e resetta la matrice di lavoro */
         WMA.ResizeReset(iNumRows, 3);
         WMB.ResizeReset(3, 3);
 
         /* Setta gli indici della matrice - le incognite sono ordinate come:
          *   - posizione (3)
          *   - parametri di rotazione (3)
          *   - quantita' di moto (3)
          *   - momento della quantita' di moto
          * e gli indici sono consecutivi. La funzione pGetFirstPositionIndex()
          * ritorna il valore del primo indice -1, in modo che l'indice i-esimo
          * e' dato da iGetFirstPositionIndex()+i */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                 WMA.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WMA.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
 
                 WMB.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WMB.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         if (g) {
                 integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
                 for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                         WMA.PutRowIndex(3 + iCnt, iFirstMomentumIndex + iCnt);
                 }
         }
 
         AssMats(WMA, WMB, 1., g, GravityAcceleration);
 }

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

virtual

Implements Elem.

Definition at line 375 of file body.cc.

References VectorHandler::Add(), DynamicStructDispNode::AddInertia(), ASSERT, Mass::AssVecRBK_int(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, Mass::dMass, StructDispNode::GetVCurr(), StructDispNode::GetXCurr(), StructDispNode::iGetFirstPositionIndex(), StructDispNode::pGetRBK(), Mass::pNode, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and VectorHandler::Sub().

 {
         DEBUGCOUTFNAME("DynamicMass::AssRes");
 
         /* Se e' definita l'accelerazione di gravita',
          * la aggiunge (solo al residuo) */
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(),
                 GravityAcceleration);
 
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         integer iNumRows = 3;
         if (g || pRBK) {
                 iNumRows = 6;
         }
 
         WorkVec.ResizeReset(iNumRows);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= iNumRows; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         const Vec3& V(pNode->GetVCurr());
 
         /* Quantita' di moto: R[1] = Q */
         WorkVec.Sub(1, V*dMass);
 
         if (g) {
                 WorkVec.Add(3 + 1, GravityAcceleration*dMass);
         }
 
         if (pRBK) {
                 AssVecRBK_int(WorkVec);
         }
 
         const DynamicStructDispNode *pDN = dynamic_cast<const DynamicStructDispNode *>(pNode);
         ASSERT(pDN != 0);
 
         pDN->AddInertia(dMass);
 
         return WorkVec;
 }

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Vec3 DynamicMass::GetB_int ( void ) const

privatevirtual

Reimplemented from ElemGravityOwner.

Definition at line 465 of file body.cc.

References Mass::dMass, StructDispNode::GetVCurr(), and Mass::pNode.

 {
         const Vec3& V(pNode->GetVCurr());
 
         return V*dMass;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 426 of file body.cc.

References DEBUGCOUTFNAME, and VariableSubMatrixHandler::SetNullMatrix().

 {
         DEBUGCOUTFNAME("DynamicMass::InitialAssJac");
 
         /* Casting di WorkMat */
         WorkMat.SetNullMatrix();
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 440 of file body.cc.

References DEBUGCOUTFNAME, and VectorHandler::Resize().

 {
         DEBUGCOUTFNAME("DynamicMass::InitialAssRes");
 
         WorkVec.Resize(0);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 167 of file body.h.

                                                                           { 
                 *piNumRows = 3; 
                 *piNumCols = 3; 
         };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 453 of file body.cc.

References VectorHandler::Add(), Mass::dMass, StructDispNode::GetVCurr(), StructDispNode::iGetFirstMomentumIndex(), and Mass::pNode.

 {
         integer iFirstIndex = pNode->iGetFirstMomentumIndex();
 
         const Vec3& V(pNode->GetVCurr());
         X.Add(iFirstIndex + 1, V*dMass);
 }

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void DynamicMass::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 139 of file body.h.

                                                                         { 
                 *piNumRows = 3; 
                 *piNumCols = 3; 
         };

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation