InLineWithOffsetJoint Class Reference

#include <inline.h>

Inheritance diagram for InLineWithOffsetJoint:

Collaboration diagram for InLineWithOffsetJoint:

Public Member Functions
	InLineWithOffsetJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &RvTmp, const Vec3 &pTmp, const Vec3 &qTmp, flag fOut)
	~InLineWithOffsetJoint (void)
virtual Joint::Type	GetJointType (void) const
virtual std::ostream &	Restart (std::ostream &out) const
virtual unsigned int	iGetNumDof (void) const
virtual DofOrder::Order	GetDofType (unsigned int i) const
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
DofOrder::Order	GetEqType (unsigned int i) const
virtual void	Output (OutputHandler &OH) const
virtual unsigned int	iGetInitialNumDof (void) const
virtual void	InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)
virtual	~Elem (void)
virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const
virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const
virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const
virtual 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 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	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 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	SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)
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)

Private Attributes
const StructNode *	pNode1
const StructNode *	pNode2
const Mat3x3	Rv
const Vec3	p
const Vec3	q
Vec3	F

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 }
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 inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput
Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 131 of file inline.h.

Constructor & Destructor Documentation

InLineWithOffsetJoint::InLineWithOffsetJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	RvTmp,
		const Vec3 &	pTmp,
		const Vec3 &	qTmp,
		flag	fOut
	)

Definition at line 445 of file inline.cc.

References NO_OP.

: Elem(uL, fOut), Joint(uL, pDO, fOut),
pNode1(pN1), pNode2(pN2), Rv(RvTmp), p(pTmp), q(qTmp), F(Zero3)
{
   NO_OP;
};

InLineWithOffsetJoint::~InLineWithOffsetJoint

(

void

)

Definition at line 460 of file inline.cc.

References NO_OP.

{
   NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 475 of file inline.cc.

References DEBUGCOUTFNAME, Vec3::dGet(), F, StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCrossCross, pNode1, pNode2, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::PutMat3x3(), q, SparseSubMatrixHandler::ResizeReset(), Rv, and VariableSubMatrixHandler::SetSparse().

{
   DEBUGCOUTFNAME("InLineWithOffsetJoint::AssJac");
   SparseSubMatrixHandler& WM = WorkMat.SetSparse();
   
   WM.ResizeReset(108, 0);
   
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
   integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
   integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
   integer iFirstReactionIndex = iGetFirstIndex();

   Vec3 qTmp(pNode2->GetRCurr()*q);
   Vec3 x2qmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
   Mat3x3 RvTmp(pNode1->GetRRef()*Rv);
   Vec3 FTmp(RvTmp*(F*dCoef));
   
   
   Vec3 Tmp1_1(RvTmp.GetVec(1).Cross(x2qmx1));
   Vec3 Tmp1_2(RvTmp.GetVec(2).Cross(x2qmx1));
   Vec3 Tmp2_1(qTmp.Cross(RvTmp.GetVec(1)));
   Vec3 Tmp2_2(qTmp.Cross(RvTmp.GetVec(2)));
   for(int iCnt = 1; iCnt <= 3; iCnt++) {
      doublereal d = RvTmp.dGet(iCnt, 1);
      WM.PutItem(iCnt, iNode1FirstMomIndex+iCnt,
                  iFirstReactionIndex+1, -d);
      WM.PutItem(3+iCnt, iNode2FirstMomIndex+iCnt,
                  iFirstReactionIndex+1, d);      
      
      WM.PutItem(6+iCnt, iFirstReactionIndex+1,
                  iNode1FirstPosIndex+iCnt, -d);
      WM.PutItem(9+iCnt, iFirstReactionIndex+1,
                  iNode2FirstPosIndex+iCnt, d);
      
      d = RvTmp.dGet(iCnt, 2);
      WM.PutItem(12+iCnt, iNode1FirstMomIndex+iCnt,
                  iFirstReactionIndex+2, -d);
      WM.PutItem(15+iCnt, iNode2FirstMomIndex+iCnt,
                  iFirstReactionIndex+2, d);      
      
      WM.PutItem(18+iCnt, iFirstReactionIndex+2,
                  iNode1FirstPosIndex+iCnt, -d);
      WM.PutItem(21+iCnt, iFirstReactionIndex+2,
                  iNode2FirstPosIndex+iCnt, d);

      d = Tmp1_1.dGet(iCnt);
      WM.PutItem(24+iCnt, iNode1FirstMomIndex+3+iCnt,
                  iFirstReactionIndex+1, d);
      
      WM.PutItem(27+iCnt, iFirstReactionIndex+1,
                  iNode1FirstPosIndex+3+iCnt, d);
      
      d = Tmp1_2.dGet(iCnt);
      WM.PutItem(30+iCnt, iNode1FirstMomIndex+3+iCnt,
                  iFirstReactionIndex+2, d);
      
      WM.PutItem(33+iCnt, iFirstReactionIndex+2,
                  iNode1FirstPosIndex+3+iCnt, d);

      d = Tmp2_1.dGet(iCnt);
      WM.PutItem(36+iCnt, iNode2FirstMomIndex+3+iCnt,
                  iFirstReactionIndex+1, d);
      
      WM.PutItem(39+iCnt, iFirstReactionIndex+1,
                  iNode2FirstPosIndex+3+iCnt, d);

      d = Tmp2_2.dGet(iCnt);
      WM.PutItem(42+iCnt, iNode2FirstMomIndex+3+iCnt,
                  iFirstReactionIndex+2, d);
      
      WM.PutItem(45+iCnt, iFirstReactionIndex+2,
                  iNode2FirstPosIndex+3+iCnt, d);
   }
   
   WM.PutCross(48+1, iNode1FirstMomIndex,
                iNode1FirstPosIndex+3, FTmp);
   WM.PutCross(54+1, iNode1FirstMomIndex+3,
                iNode1FirstPosIndex, -FTmp);
   WM.PutMat3x3(60+1, iNode1FirstMomIndex+3,            
                iNode1FirstPosIndex+3, Mat3x3(MatCrossCross, x2qmx1, FTmp));
   WM.PutCross(69+1, iNode1FirstMomIndex+3,
                iNode2FirstPosIndex, FTmp);
   WM.PutCross(75+1, iNode2FirstMomIndex,
                iNode2FirstPosIndex+3, -FTmp);

   Mat3x3 MTmp(MatCrossCross, FTmp, qTmp);
   WM.PutMat3x3(81+1, iNode1FirstMomIndex+3,
                 iNode2FirstPosIndex+3, -MTmp);
   WM.PutMat3x3(90+1, iNode2FirstMomIndex+3,
                 iNode2FirstPosIndex+3, -MTmp);

   WM.PutMat3x3(99+1, iNode2FirstMomIndex+3,            
                 iNode1FirstPosIndex+3, Mat3x3(MatCrossCross, -qTmp, FTmp));
   
   return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 578 of file inline.cc.

References VectorHandler::Add(), ASSERT, DEBUGCOUTFNAME, Vec3::Dot(), F, StructNode::GetRCurr(), Mat3x3::GetVec(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), p, pNode1, pNode2, Vec3::Put(), VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), q, VectorHandler::ResizeReset(), Rv, and VectorHandler::Sub().

{
   DEBUGCOUTFNAME("InLineWithOffsetJoint::AssRes");
   WorkVec.ResizeReset(14);
 
   integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
   integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
   integer iFirstReactionIndex = iGetFirstIndex();

   /* Indici equazioni */
   for (int iCnt = 1; iCnt <= 6; iCnt++) {
      WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
      WorkVec.PutRowIndex(6+iCnt, iNode2FirstMomIndex+iCnt);
   }
   
   /* Indice equazione vincolo */
   WorkVec.PutRowIndex(13, iFirstReactionIndex+1);
   WorkVec.PutRowIndex(14, iFirstReactionIndex+2);

   Vec3 qTmp(pNode2->GetRCurr()*q);
   Vec3 x2qmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
   Mat3x3 RvTmp = pNode1->GetRCurr()*Rv;

   /* Aggiorna i dati propri */
   F.Put(1, XCurr(iFirstReactionIndex+1));
   F.Put(2, XCurr(iFirstReactionIndex+2));
   Vec3 FTmp(RvTmp*F);
   
   WorkVec.Add(1, FTmp);
   WorkVec.Add(4, x2qmx1.Cross(FTmp));
   WorkVec.Sub(7, FTmp);
   WorkVec.Sub(10, qTmp.Cross(FTmp));
   
   ASSERT(dCoef != 0.);
   WorkVec.PutCoef(13, (Rv.GetVec(1).Dot(p)-RvTmp.GetVec(1).Dot(x2qmx1))/dCoef);
   WorkVec.PutCoef(14, (Rv.GetVec(2).Dot(p)-RvTmp.GetVec(2).Dot(x2qmx1))/dCoef);

   return WorkVec;
}

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

inlinevirtual

Reimplemented from Elem.

Definition at line 210 of file inline.h.

References pNode1, and pNode2.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 163 of file inline.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                                          {
      ASSERT(i >= 0 && i < 2);
      return DofOrder::ALGEBRAIC;
   };

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

virtual

Reimplemented from SimulationEntity.

Definition at line 622 of file inline.cc.

References DofOrder::ALGEBRAIC, ASSERTMSGBREAK, and DofOrder::DIFFERENTIAL.

{
        ASSERTMSGBREAK((i>=0) and (i<15), 
                "INDEX ERROR in InLineWithOffsetJoint::GetEqType");
        if ((i==13) or (i==14)) {
                return DofOrder::ALGEBRAIC;
        }
        return DofOrder::DIFFERENTIAL;
}

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

inlinevirtual

Implements Joint.

Definition at line 152 of file inline.h.

References Joint::J_INLINE.

                                              {
      return J_INLINE;
   };

virtual unsigned int InLineWithOffsetJoint::iGetInitialNumDof ( void  ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 190 of file inline.h.

                                                      { 
      return 4; 
   };

virtual unsigned int InLineWithOffsetJoint::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 159 of file inline.h.

                                               { 
      return 2;
   };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 644 of file inline.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), grad::Cross(), DEBUGCOUTFNAME, Vec3::dGet(), F, StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWRef(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), q, FullSubMatrixHandler::ResizeReset(), Rv, VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), and Mat3x3::Transpose().

{
   DEBUGCOUTFNAME("InLineWithOffsetJoint::InitialAssJac");
   FullSubMatrixHandler& WM = WorkMat.SetFull();
   WM.ResizeReset(28, 28);
   
   /* Indici gdl */
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+2;
   
   /* Indici equazioni nodi */
   for(int iCnt = 1; iCnt <= 12; iCnt++) {
      WM.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
      WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
      WM.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
      WM.PutColIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
   }
   
   /* Indici vincoli */
   for(int iCnt = 1; iCnt <= 4; iCnt++) {
      WM.PutRowIndex(24+iCnt, iFirstReactionIndex+iCnt);
      WM.PutColIndex(24+iCnt, iFirstReactionIndex+iCnt);
   }
   
   /* Dati */
   Vec3 Omega1(pNode1->GetWRef());
   Vec3 Omega2(pNode2->GetWRef());
   Mat3x3 RvTmp(pNode1->GetRRef()*Rv);
   Vec3 qTmp(pNode2->GetRRef()*q);
   Vec3 x2qmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
   Vec3 xp2qmxp1(pNode2->GetVCurr()+Omega2.Cross(qTmp)-pNode1->GetVCurr());
   
   /* Aggiorna i dati propri */
   Vec3 FPrime(XCurr(iReactionPrimeIndex+1),
               XCurr(iReactionPrimeIndex+2),
               0.);
   Vec3 FTmp(RvTmp*F);
   Vec3 FPrimeTmp(RvTmp*FPrime);

   Vec3 v1(RvTmp.GetVec(1));
   Vec3 Tmp1_1(v1.Cross(x2qmx1));
   Vec3 Tmp2_1(Omega1.Cross(v1));
   Vec3 Tmp3_1((Omega1.Cross(x2qmx1)-xp2qmxp1).Cross(v1));
   Vec3 Tmp4_1(-(xp2qmxp1.Cross(v1)+x2qmx1.Cross(Tmp2_1)));
   
   Vec3 Tmp5_1(qTmp.Cross(v1));
   Vec3 Tmp6_1(qTmp.Cross(v1.Cross(Omega2-Omega1)));
   Vec3 Tmp7_1(qTmp.Cross(Omega1.Cross(v1))-v1.Cross(Omega2.Cross(qTmp)));
   
   Vec3 v2(RvTmp.GetVec(2));
   Vec3 Tmp1_2(v2.Cross(x2qmx1));
   Vec3 Tmp2_2(Omega1.Cross(v2));
   Vec3 Tmp3_2((Omega1.Cross(x2qmx1)-xp2qmxp1).Cross(v2));
   Vec3 Tmp4_2(-(xp2qmxp1.Cross(v2)+x2qmx1.Cross(Tmp2_2)));
   
   Vec3 Tmp5_2(qTmp.Cross(v2));
   Vec3 Tmp6_2(qTmp.Cross(v2.Cross(Omega2-Omega1)));
   Vec3 Tmp7_2(qTmp.Cross(Omega1.Cross(v2))-v2.Cross(Omega2.Cross(qTmp)));
   
   for(int iCnt = 1; iCnt <= 3; iCnt++) {
      doublereal d = v1.dGet(iCnt);
      WM.PutCoef(iCnt, 25, -d);
      WM.PutCoef(12+iCnt, 25, d);
      
      WM.PutCoef(25, iCnt, -d);
      WM.PutCoef(25, 12+iCnt, d);

      WM.PutCoef(6+iCnt, 27, -d);  
      WM.PutCoef(18+iCnt, 27, d);

      WM.PutCoef(27, 6+iCnt, -d);  
      WM.PutCoef(27, 18+iCnt, d);
      
      d = v2.dGet(iCnt);
      WM.PutCoef(iCnt, 26, -d);
      WM.PutCoef(12+iCnt, 26, d);
      
      WM.PutCoef(26, iCnt, -d);
      WM.PutCoef(26, 12+iCnt, d);

      WM.PutCoef(6+iCnt, 28, -d);  
      WM.PutCoef(18+iCnt, 28, d);

      WM.PutCoef(28, 6+iCnt, -d);  
      WM.PutCoef(28, 18+iCnt, d);

      d = Tmp1_1.dGet(iCnt);
      WM.PutCoef(3+iCnt, 25, d);   
      WM.PutCoef(25, 3+iCnt, d);   

      WM.PutCoef(27, 9+iCnt, d);   
      WM.PutCoef(9+iCnt, 27, d);
      
      d = Tmp1_2.dGet(iCnt);
      WM.PutCoef(3+iCnt, 26, d);   
      WM.PutCoef(26, 3+iCnt, d);   

      WM.PutCoef(28, 9+iCnt, d);   
      WM.PutCoef(9+iCnt, 28, d);
      
      d = Tmp2_1.dGet(iCnt);
      WM.PutCoef(27, iCnt, -d);    
      WM.PutCoef(27, 12+iCnt, d);  

      WM.PutCoef(6+iCnt, 25, -d);  
      WM.PutCoef(18+iCnt, 25, d);
      
      d = Tmp2_2.dGet(iCnt);
      WM.PutCoef(28, iCnt, -d);    
      WM.PutCoef(28, 12+iCnt, d);  

      WM.PutCoef(6+iCnt, 26, -d);  
      WM.PutCoef(18+iCnt, 26, d);

      d = Tmp3_1.dGet(iCnt);
      WM.PutCoef(27, 3+iCnt, d);   

      d = Tmp3_2.dGet(iCnt);
      WM.PutCoef(28, 3+iCnt, d);   

      d = Tmp4_1.dGet(iCnt);
      WM.PutCoef(9+iCnt, 25, d);   

      d = Tmp4_2.dGet(iCnt);
      WM.PutCoef(9+iCnt, 27, d);   
      
      d = Tmp5_1.dGet(iCnt);
      WM.PutCoef(15+iCnt, 25, d);
      WM.PutCoef(21+iCnt, 27, d);

      WM.PutCoef(25, 15+iCnt, d);
      WM.PutCoef(27, 21+iCnt, d);

      d = Tmp5_2.dGet(iCnt);
      WM.PutCoef(15+iCnt, 26, d);
      WM.PutCoef(21+iCnt, 28, d);

      WM.PutCoef(26, 15+iCnt, d);
      WM.PutCoef(28, 21+iCnt, d);

      d = Tmp6_1.dGet(iCnt);
      WM.PutCoef(27, 15+iCnt, d);

      d = Tmp6_2.dGet(iCnt);
      WM.PutCoef(28, 15+iCnt, d);

      d = Tmp7_1.dGet(iCnt);
      WM.PutCoef(21+iCnt, 25, d);
      
      d = Tmp7_2.dGet(iCnt);
      WM.PutCoef(21+iCnt, 26, d);
   }   

   Mat3x3 MTmp(MatCross, FTmp);
   WM.Add(1, 4, MTmp);             
   WM.Add(4, 13, MTmp);            
   
   WM.Add(7, 10, MTmp);            
   WM.Add(10, 19, MTmp);           
   
   WM.Sub(4, 1, MTmp);             
   WM.Sub(13, 4, MTmp);            
   
   WM.Sub(19, 10, MTmp);           
   WM.Sub(10, 7, MTmp);            
   
   MTmp = Mat3x3(MatCrossCross, x2qmx1, FTmp);
   WM.Add(4, 4, MTmp);             

   WM.Add(10, 10, MTmp);           
 
   MTmp = Mat3x3(MatCrossCross, Omega1, FTmp) + Mat3x3(MatCross, FPrimeTmp);
   WM.Add(7, 4, MTmp);             
   WM.Sub(19, 4, MTmp);           
   
   MTmp = Mat3x3(MatCross, Omega1.Cross(FTmp) + FPrimeTmp);
   WM.Sub(10, 1, MTmp);
   WM.Add(10, 13, MTmp);
   
   MTmp = Mat3x3((Mat3x3(MatCross, xp2qmxp1) + Mat3x3(MatCrossCross, x2qmx1, Omega1))*Mat3x3(MatCross, FTmp)
                 + Mat3x3(MatCrossCross, x2qmx1, FPrimeTmp));
   WM.Add(10, 4, MTmp);

   MTmp = Mat3x3(MatCrossCross, FTmp, qTmp);
   WM.Add(16, 16, MTmp);
   WM.Add(22, 22, MTmp);
   
   WM.Sub(4, 16, MTmp);
   WM.Sub(10, 22, MTmp);
   
   MTmp = MTmp.Transpose();
   WM.Add(16, 4, MTmp);
   WM.Add(22, 10, MTmp);
   
   MTmp = (Mat3x3(MatCrossCross, FTmp, Omega2) + Mat3x3(MatCross, Omega1.Cross(FTmp) + FPrimeTmp))*Mat3x3(MatCross, qTmp);
   WM.Add(22, 16, MTmp);
   WM.Sub(10, 16, MTmp);
   
   MTmp = Mat3x3(MatCrossCross, qTmp.Cross(Omega2), FTmp)
     - Mat3x3(MatCross, qTmp)*(Mat3x3(MatCrossCross, Omega1, FTmp) + Mat3x3(MatCross, FPrimeTmp));
   WM.Add(22, 4, MTmp);

   return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 855 of file inline.cc.

References VectorHandler::Add(), Vec3::Cross(), grad::Cross(), DEBUGCOUTFNAME, Vec3::Dot(), F, StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), p, pNode1, pNode2, Vec3::Put(), VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), q, VectorHandler::ResizeReset(), Rv, and VectorHandler::Sub().

{
   DEBUGCOUTFNAME("InLineWithOffsetJoint::InitialAssRes");
   WorkVec.ResizeReset(28);
   
   /* Indici gdl */
   integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
   integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+2;
   
   /* Indici equazioni nodi */
   for(int iCnt = 1; iCnt <= 12; iCnt++) {
      WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
      WorkVec.PutRowIndex(12+iCnt, iNode2FirstPosIndex+iCnt);
   }
   
   /* Indici equazioni vincoli */
   WorkVec.PutRowIndex(25, iFirstReactionIndex+1);
   WorkVec.PutRowIndex(26, iFirstReactionIndex+2);
   WorkVec.PutRowIndex(27, iReactionPrimeIndex+1);
   WorkVec.PutRowIndex(28, iReactionPrimeIndex+2);
      
   /* Dati */
   Mat3x3 RvTmp(pNode1->GetRCurr()*Rv);
   Vec3 qTmp(pNode2->GetRCurr()*q);
   Vec3 Omega1(pNode1->GetWCurr());
   Vec3 Omega2(pNode2->GetWCurr());
   Vec3 x2qmx1(pNode2->GetXCurr()+qTmp-pNode1->GetXCurr());
   Vec3 xp2qmxp1(pNode2->GetVCurr()+Omega2.Cross(qTmp)-pNode1->GetVCurr());
   
   /* Aggiorna i dati propri */
   F.Put(1, XCurr(iFirstReactionIndex+1));
   F.Put(2, XCurr(iFirstReactionIndex+2));
   Vec3 FPrime(XCurr(iReactionPrimeIndex+1),
               XCurr(iReactionPrimeIndex+2),
               0.);
   Vec3 FTmp(RvTmp*F);
   Vec3 FPrimeTmp(RvTmp*FPrime);
   Vec3 Tmp(Omega1.Cross(FTmp)+FPrimeTmp);
   
   WorkVec.Add(1, FTmp);
   WorkVec.Add(4, x2qmx1.Cross(FTmp)); /* ( = -p/\F) */
   WorkVec.Add(7, Tmp);
   WorkVec.Add(10, xp2qmxp1.Cross(FTmp)+x2qmx1.Cross(Tmp));
   WorkVec.Sub(13, FTmp);
   WorkVec.Sub(16, qTmp.Cross(FTmp));
   WorkVec.Sub(19, Tmp);
   WorkVec.Sub(22, qTmp.Cross(Tmp)+(Omega2.Cross(qTmp)).Cross(FTmp));
   
   WorkVec.PutCoef(25, Rv.GetVec(1).Dot(p)-RvTmp.GetVec(1).Dot(x2qmx1));
   WorkVec.PutCoef(26, Rv.GetVec(2).Dot(p)-RvTmp.GetVec(2).Dot(x2qmx1));
   WorkVec.PutCoef(27, x2qmx1.Dot(RvTmp.GetVec(1).Cross(Omega1))-RvTmp.GetVec(1).Dot(xp2qmxp1));
   WorkVec.PutCoef(28, x2qmx1.Dot(RvTmp.GetVec(2).Cross(Omega1))-RvTmp.GetVec(2).Dot(xp2qmxp1));
   
   return WorkVec;
}

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 194 of file inline.h.

                                                                                  { 
      *piNumRows = 24+4; 
      *piNumCols = 24+4; 
   };

void InLineWithOffsetJoint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 632 of file inline.cc.

References ToBeOutput::bToBeOutput(), F, WithLabel::GetLabel(), StructNode::GetRCurr(), OutputHandler::Joints(), Joint::Output(), pNode1, Rv, and Zero3.

{
   if (bToBeOutput()) {      
      Mat3x3 RvTmp(pNode1->GetRCurr()*Rv);
      Joint::Output(OH.Joints(), "inline", GetLabel(),
                    F, Zero3, RvTmp*F, Zero3) << std::endl;
   }
}

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

virtual

Implements Elem.

Definition at line 467 of file inline.cc.

References Joint::Restart().

{
   Joint::Restart(out) << ", in line, not implemented yet" << std::endl;
   return out;
}

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

inlinevirtual

Implements Elem.

Definition at line 168 of file inline.h.

                                                                           { 
      *piNumRows = 12+2;
      *piNumCols = 12+2; 
   };

Member Data Documentation

Vec3 InLineWithOffsetJoint::F

private

Definition at line 140 of file inline.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

const Vec3 InLineWithOffsetJoint::p

private

Definition at line 137 of file inline.h.

Referenced by AssRes(), and InitialAssRes().

const StructNode* InLineWithOffsetJoint::pNode1

private

Definition at line 133 of file inline.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), and Output().

const StructNode* InLineWithOffsetJoint::pNode2

private

Definition at line 134 of file inline.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), and InitialAssRes().

const Vec3 InLineWithOffsetJoint::q

private

Definition at line 138 of file inline.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), and InitialAssRes().

const Mat3x3 InLineWithOffsetJoint::Rv

private

Definition at line 136 of file inline.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

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

• inline.h
• inline.cc