#include <genfilt.h>

Inheritance diagram for GenelStateSpaceSISO:

Collaboration diagram for GenelStateSpaceSISO:

Public Member Functions
	GenelStateSpaceSISO (unsigned int uLabel, const DofOwner pDO, const ScalarDof &y, ScalarValue u, unsigned int Order, doublereal pE, doublereal pA, doublereal pB, doublereal pC, doublereal D, bool bBalance, doublereal pdX0, doublereal pdXP0, flag fOutput)

virtual	~GenelStateSpaceSISO (void)

virtual unsigned int	iGetNumDof (void) const

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

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

virtual Genel::Type	GetGenelType (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual void	Output (OutputHandler &OH) const

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

Public Member Functions inherited from Genel
	Genel (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~Genel (void)

virtual Elem::Type	GetElemType (void) const

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

virtual	~Elem (void)

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

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

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

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

virtual 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 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 unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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 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

virtual void	SetInitialValue (VectorHandler &X)

Protected Attributes
ScalarDof	SD_y

ScalarValue *	SV_u

unsigned int	iNumDofs

doublereal *	pdE

doublereal *	pdA

doublereal *	pdB

doublereal *	pdC

doublereal	dD

doublereal *	pdX

doublereal *	pdXP

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Additional Inherited Members
Public Types inherited from Genel
enum	Type { UNKNOWN = -1, SWASHPLATE = 0, ROTORTRIM, CLAMP, DISTANCE, SPRING, SPRINGSUPPORT, CROSSSPRINGSUPPORT, SPRINGDAMPER, SPRINGDAMPERSUPPORT, CROSSSPRINGDAMPERSUPPORT, MASS, SCALARFILTER, STATESPACESISO, STATESPACEMIMO, LASTGENELTYPE }

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 }

Detailed Description

Definition at line 42 of file genfilt.h.

Constructor & Destructor Documentation

GenelStateSpaceSISO::GenelStateSpaceSISO	(	unsigned int	uLabel,
		const DofOwner *	pDO,
		const ScalarDof &	y,
		ScalarValue *	u,
		unsigned int	Order,
		doublereal *	pE,
		doublereal *	pA,
		doublereal *	pB,
		doublereal *	pC,
		doublereal	D,
		bool	bBalance,
		doublereal *	pdX0,
		doublereal *	pdXP0,
		flag	fOutput
	)

Definition at line 49 of file genfilt.cc.

References ASSERT, DEBUGCOUT, iNumDofs, ScalarDof::iOrder, pdA, pdB, pdC, pdE, pdX, pdXP, SAFENEWARR, and SD_y.

 : Elem(uLabel, fOutput),
 Genel(uLabel, pDO, fOutput),
 SD_y(y), SV_u(u),
 iNumDofs(Order),
 pdE(pE), pdA(pA), pdB(pB), pdC(pC), dD(D),
 pdX(0), pdXP(0)
 {
         ASSERT(Order > 0);
         ASSERT(pdA != 0);
         ASSERT(pdB != 0);
         ASSERT(pdC != 0);
         ASSERT(SD_y.iOrder == 0);
         DEBUGCOUT("GenelStateSpaceSISO " << uLabel
                 << ", NumDofs: " << iNumDofs << std::endl);
 
 #ifdef USE_LAPACK
         // try balancing the matrix?
         if (bBalance) {
                 char JOB = 'S';
                 integer N = Order;
                 integer LDA = Order;
                 integer LDB = Order;
                 integer ILO;
                 integer IHI;
                 integer INFO;
 
                 std::vector<doublereal> RSCALE(Order);
                 std::vector<doublereal> LSCALE(Order);
 
                 if (pdE != 0) {
                         std::vector<doublereal> WORK(6*Order);
 
                         (void)__FC_DECL__(dggbal)(&JOB, &N, pdA, &LDA,
                                 pdE, &LDB, &ILO, &IHI,
                                 &LSCALE[0], &RSCALE[0], &WORK[0], &INFO);
 
                 } else {
                         (void)__FC_DECL__(dgebal)(&JOB, &N, pdA, &LDA,
                                 &ILO, &IHI, &RSCALE[0], &INFO);
 
                         for (unsigned i = 0; i < Order; i++) {
                                 LSCALE[i] = 1./RSCALE[i];
                         }
                 }
 
                 if (INFO != 0) {
                         silent_cout("GenelStateSpaceSISO(" << uLabel << "): "
                                 "balancing failed (ignored)" << std::endl);
 
                 } else {
                         for (unsigned i = 0; i < Order; i++) {
                                 pdB[i] *= RSCALE[i];
                                 pdC[i] *= LSCALE[i];
                         }
                 }
         }
 #endif // USE_LAPACK
 
         SAFENEWARR(pdX, doublereal, 2*Order);
         pdXP = pdX + Order;
 
         for (unsigned i = 0; i < 2*Order; i++) {
                 pdX[i] = 0.;
         }
 
         if (pdX0) {
                 for (unsigned i = 0; i < Order; i++) {
                         pdX[i] = pdX0[i];
                 }
 
                 if (pdXP0) {
                         for (unsigned i = 0; i < Order; i++) {
                                 pdXP[i] = pdXP0[i];
                         }
                 }
         }
 }

GenelStateSpaceSISO::~GenelStateSpaceSISO ( void )

virtual

Definition at line 141 of file genfilt.cc.

References pdA, pdB, pdC, pdE, pdX, SAFEDELETE, SAFEDELETEARR, and SV_u.

 {
         if (pdX != 0) {
                 SAFEDELETEARR(pdX);
         }
 
         if (pdC != 0) {
                 SAFEDELETEARR(pdC);
         }
 
         if (pdB != 0) {
                 SAFEDELETEARR(pdB);
         }
 
         if (pdA != 0) {
                 SAFEDELETEARR(pdA);
         }
 
         if (pdE != 0) {
                 SAFEDELETEARR(pdE);
         }
 
         if (SV_u != 0) {
                 SAFEDELETE(SV_u);
         }
 }

Member Function Documentation

VariableSubMatrixHandler & GenelStateSpaceSISO::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	,
		const VectorHandler &
	)

virtual

Implements Elem.

Definition at line 204 of file genfilt.cc.

References DEBUGCOUT, Node::iGetFirstColIndex(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), FullSubMatrixHandler::IncCoef(), iNumDofs, ScalarDof::iOrder, pdA, pdB, pdC, pdE, ScalarDof::pNode, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), SD_y, VariableSubMatrixHandler::SetFull(), SV_u, and WorkSpaceDim().

 {
         DEBUGCOUT("Entering GenelStateSpaceSISO::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         integer iRowIndex_y = SD_y.pNode->iGetFirstRowIndex() + 1;
         integer iColIndex_y = SD_y.pNode->iGetFirstColIndex() + 1;
         integer iFirstIndex = iGetFirstIndex();
 
         WM.PutRowIndex(iNumRows, iRowIndex_y);
         WM.PutColIndex(iNumCols, iColIndex_y);
 
         // inputs may contribute to the Jacobian matrix
         ScalarDofValue *SDV_u = dynamic_cast<ScalarDofValue *>(SV_u);
         if (SDV_u != 0) {
                 ScalarDof& SD_u = dynamic_cast<ScalarDof &>(*SV_u);
                 integer iColIndex_u = SD_u.pNode->iGetFirstRowIndex() + 1;
                 integer iIdx_u = iNumCols - 1;
 
                 WM.PutColIndex(iIdx_u, iColIndex_u);
 
                 doublereal dd;
                 if (SD_u.iOrder == 0) {
                         dd = dCoef;
                 } else {
                         dd = 1.;
                 }
 
                 doublereal *pdb = pdB - 1;
                 for (unsigned int i = iNumDofs; i > 0; i--) {
                         WM.PutCoef(i, iIdx_u, pdb[i]*dd);
                 }
         }
 
         WM.PutCoef(iNumRows, iNumCols, dCoef);
 
         doublereal* pda = pdA + iNumDofs*iNumDofs - 1;
         doublereal* pdc = pdC - 1;
         if (pdE) {
                 doublereal* pde = pdE + iNumDofs*iNumDofs - 1;
 
                 for (unsigned int i = iNumDofs; i > 0; i--) {
                         WM.PutRowIndex(i, iFirstIndex + i);
                         WM.PutColIndex(i, iFirstIndex + i);
                         WM.PutCoef(iNumRows, i, -pdc[i]*dCoef);
                         pde -= iNumDofs;
                         pda -= iNumDofs;
                         for (unsigned int j = iNumDofs; j > 0; j--) {
                                 /* Attenzione: si assume A orientata per righe:
                                  * a_11, a_12, ..., a_1n, a_21, ..., a_2n, ..., a_nn */
                                 WM.PutCoef(i, j, pde[j] - pda[j]*dCoef);
                         }
                 }
 
         } else {
                 for (unsigned int i = iNumDofs; i > 0; i--) {
                         WM.PutRowIndex(i, iFirstIndex + i);
                         WM.PutColIndex(i, iFirstIndex + i);
                         WM.PutCoef(iNumRows, i, -pdc[i]*dCoef);
                         pda -= iNumDofs;
                         for (unsigned int j = iNumDofs; j > 0; j--) {
                                 /* Attenzione: si assume A orientata per righe:
                                  * a_11, a_12, ..., a_1n, a_21, ..., a_2n, ..., a_nn */
                                 WM.PutCoef(i, j, -pda[j]*dCoef);
                         }
                         WM.IncCoef(i, i, 1.);
                 }
         }
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 287 of file genfilt.cc.

References dD, DEBUGCOUT, ScalarValue::dGetValue(), ScalarNode::dGetX(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), iNumDofs, pdA, pdB, pdC, pdE, pdX, pdXP, ScalarDof::pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), SD_y, SV_u, and WorkSpaceDim().

 {
         DEBUGCOUT("Entering GenelStateSpaceSISO::AssRes()" << std::endl);
 
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         integer iRowIndex_y = SD_y.pNode->iGetFirstRowIndex()+1;
         integer iFirstIndex = iGetFirstIndex();
 
         doublereal y = SD_y.pNode->dGetX();
         doublereal u = SV_u->dGetValue();
 
         WorkVec.PutRowIndex(iNumRows, iRowIndex_y);
 
         doublereal* pdx = pdX - 1;
         doublereal* pdxp = pdXP - 1;
         doublereal* pdc = pdC - 1;
         doublereal d = dD*u - y;
         for (unsigned int i = iNumDofs; i > 0; i--) {
                 WorkVec.PutRowIndex(i, iFirstIndex + i);
                 pdx[i] = XCurr(iFirstIndex + i);
                 pdxp[i] = XPrimeCurr(iFirstIndex + i);
                 d += pdc[i]*pdx[i];
         }
 
         WorkVec.PutCoef(iNumRows, d);
 
         doublereal* pda = pdA + iNumDofs*iNumDofs;
         doublereal* pdb = pdB;
         pdxp = pdXP;
         pdx = pdX;
         if (pdE) {
                 doublereal *pde = pdE + iNumDofs*iNumDofs;
                 for (unsigned int i = iNumDofs; i-- > 0; ) {
                         d = pdb[i]*u;
                         pde -= iNumDofs;
                         pda -= iNumDofs;
                         for (unsigned int j = iNumDofs; j-- > 0; ) {
                                 d += pda[j]*pdx[j] - pde[j]*pdxp[j];
                         }
                         WorkVec.PutCoef(i + 1, d);
                 }
 
         } else {
                 for (unsigned int i = iNumDofs; i-- > 0; ) {
                         d = pdb[i]*u - pdxp[i];
                         pda -= iNumDofs;
                         for (unsigned int j = iNumDofs; j-- > 0; ) {
                                 d += pda[j]*pdx[j];
                         }
                         WorkVec.PutCoef(i + 1, d);
                 }
         }
 
         return WorkVec;
 }

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

virtual

Reimplemented from Elem.

Definition at line 398 of file genfilt.cc.

References ScalarDof::pNode, SD_y, and SV_u.

                                                        {
         unsigned iNodes = 1;
         if (dynamic_cast<NodeDof *>(SV_u)) {
                 iNodes++;
         }
         connectedNodes.resize(iNodes);
         connectedNodes[0] = SD_y.pNode;
         if (dynamic_cast<NodeDof *>(SV_u)) {
                 connectedNodes[1] = dynamic_cast<NodeDof *>(SV_u)->pNode;
         }
 }

DofOrder::Order GenelStateSpaceSISO::GetDofType ( unsigned int i ) const

virtual

Reimplemented from Elem.

Definition at line 176 of file genfilt.cc.

References ASSERT, DofOrder::DIFFERENTIAL, and iNumDofs.

 {
         ASSERT(i < iNumDofs);
         return DofOrder::DIFFERENTIAL;
 }

virtual Genel::Type GenelStateSpaceSISO::GetGenelType ( void ) const

inlinevirtual

Implements Genel.

Definition at line 81 of file genfilt.h.

References Genel::STATESPACESISO.

                                                    {
                 return Genel::STATESPACESISO;
         };

unsigned int GenelStateSpaceSISO::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 169 of file genfilt.cc.

References iNumDofs.

 {
         return iNumDofs;
 }

void GenelStateSpaceSISO::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 382 of file genfilt.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::Genels(), WithLabel::GetLabel(), iNumDofs, pdX, and pdXP.

 {
         if (bToBeOutput()) {
                 std::ostream &out(OH.Genels());
                 out << std::setw(8) << GetLabel();
                 for (unsigned int i = 0; i < iNumDofs; i++) {
                         out << " " << pdX[i];
                 }
                 for (unsigned int i = 0; i < iNumDofs; i++) {
                         out << " " << pdXP[i];
                 }
                 out << "\n";
         }
 }

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

virtual

Reimplemented from Genel.

Definition at line 184 of file genfilt.cc.

 {
         return out << "GenelStateSpaceSISO: not implemented yet!" << std::endl;
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 351 of file genfilt.cc.

References ScalarValue::dGetValue(), DofOwnerOwner::iGetFirstIndex(), iNumDofs, pdA, pdB, pdE, pdX, pdXP, and SV_u.

 {
         integer iFirstIndex = iGetFirstIndex() + 1;
 
         if (pdE == 0) {
                 doublereal u = SV_u->dGetValue();
                 doublereal* pda = pdA + iNumDofs*iNumDofs;
                 doublereal* pdb = pdB;
 
                 for (unsigned int i = iNumDofs; i-- > 0; ) {
                         pdXP[i] = pdb[i]*u;
                         pda -= iNumDofs;
                         for (unsigned int j = iNumDofs; j-- > 0; ) {
                                 pdXP[i] += pda[j]*pdX[j];
                         }
                 }
         }
 
         for (unsigned i = 0; i < iNumDofs; i++) {
                 X(iFirstIndex + i) = pdX[i];
                 XP(iFirstIndex + i) = pdXP[i];
         }
 }

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

virtual

Implements Elem.

Definition at line 191 of file genfilt.cc.

References iNumDofs, and SV_u.

Referenced by AssJac(), and AssRes().

 {
         *piNumRows = iNumDofs + 1;
         *piNumCols = iNumDofs + 1;
 
         // inputs may contribute to the Jacobian matrix
         if (dynamic_cast<ScalarDofValue *>(SV_u) != 0) {
                 *piNumCols += 1;
         }
 }