InducedVelocity Class Reference

#include <indvel.h>

Inheritance diagram for InducedVelocity:

Collaboration diagram for InducedVelocity:

Classes
class	ErrInfiniteMeanInducedVelocity

Public Types
enum	Type {   UNKNOWN = -1, USER_DEFINED = 0x01000000U, ROTOR = 0x10000000U, NO = (0U | ROTOR),   UNIFORM = (1U | ROTOR), GLAUERT = (2U | ROTOR), MANGLER = (3U | ROTOR), DYNAMICINFLOW = (4U | ROTOR),   PETERS_HE = (5U | ROTOR), CYCLOCOPTER = (11U | ROTOR), LASTROTORTYPE }
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 Member Functions
	InducedVelocity (unsigned int uL, const StructNode *pCraft, ResForceSet **ppres, flag fOut)
virtual	~InducedVelocity (void)
virtual unsigned int	iGetNumPrivData (void) const
virtual unsigned int	iGetPrivDataIdx (const char *s) const
virtual doublereal	dGetPrivData (unsigned int i) const
virtual bool	bSectionalForces (void) const
virtual unsigned int	iGetNumDof (void) const
virtual InducedVelocity::Type	GetInducedVelocityType (void) const =0
virtual const Vec3 &	GetXCurr (void) const
virtual const Vec3 &	GetForces (void) const
virtual const Vec3 &	GetMoments (void) const
virtual void	AddForce (const Elem *pEl, const StructNode *pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)
virtual void	AddSectionalForce (Elem::Type type, const Elem *pEl, unsigned uPnt, const Vec3 &F, const Vec3 &M, doublereal dW, const Vec3 &X, const Mat3x3 &R, const Vec3 &V, const Vec3 &W)
virtual void	ResetForce (void)
virtual Vec3	GetInducedVelocity (Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const =0
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
virtual void	SetInitialValue (VectorHandler &)
virtual void	SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)
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 &	Restart (std::ostream &out) const =0
virtual Elem::Type	GetElemType (void) const =0
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 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)=0
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, 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))

Protected Attributes
const StructNode *	pCraft
ExternResForces	Res
ResForceSet **	ppRes
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput

Detailed Description

Definition at line 48 of file indvel.h.

Member Enumeration Documentation

enum InducedVelocity::Type

Enumerator
UNKNOWN
USER_DEFINED
ROTOR
NO
UNIFORM
GLAUERT
MANGLER
DYNAMICINFLOW
PETERS_HE
CYCLOCOPTER
LASTROTORTYPE

Definition at line 51 of file indvel.h.

                  {
                UNKNOWN = -1,

                // non-rotating...

                USER_DEFINED    = 0x01000000U,
                ROTOR           = 0x10000000U,

                // rotating...

                NO              = (0U | ROTOR),
                UNIFORM         = (1U | ROTOR),
                GLAUERT         = (2U | ROTOR),
                MANGLER         = (3U | ROTOR),
                DYNAMICINFLOW   = (4U | ROTOR),
                PETERS_HE       = (5U | ROTOR),

                CYCLOCOPTER     = (11U | ROTOR),

                LASTROTORTYPE
        };

Constructor & Destructor Documentation

InducedVelocity::InducedVelocity	(	unsigned int	uL,
		const StructNode *	pCraft,
		ResForceSet **	ppres,
		flag	fOut
	)

Definition at line 57 of file indvel.cc.

References ppRes, and SAFENEWARR.

: Elem(uL, fOut),
#ifdef USE_MPI
is_parallel(false),
pBlockLenght(0),
pDispl(0),
ReqV(MPI::REQUEST_NULL),
pIndVelDataType(0),
#endif /* USE_MPI */
pCraft(pCraft),
ppRes(ppres)
{
#ifdef USE_MPI
        iForcesVecDim = 6;
        for (int i = 0; ppRes && ppRes[i]; i++) {
                iForcesVecDim += 6;
        }
        SAFENEWARR(pTmpVecR, doublereal, iForcesVecDim);
        SAFENEWARR(pTmpVecS, doublereal, iForcesVecDim);
        if (MPI::Is_initialized()) {
                is_parallel = true;
                IndVelComm = MBDynComm.Dup();
        }
#endif /* USE_MPI */

#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        pthread_mutex_init(&induced_velocity_mutex, NULL);
        pthread_cond_init(&induced_velocity_cond, NULL);
        pthread_mutex_init(&forces_mutex, NULL);
#endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
}

InducedVelocity::~InducedVelocity ( void  )

virtual

Definition at line 91 of file indvel.cc.

References SAFEDELETEARR.

{
#ifdef USE_MPI
        SAFEDELETEARR(pTmpVecR);
        SAFEDELETEARR(pTmpVecS);
#endif /* USE_MPI */

#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        pthread_mutex_destroy(&induced_velocity_mutex);
        pthread_cond_destroy(&induced_velocity_cond);
        pthread_mutex_destroy(&forces_mutex);
#endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
}

Member Function Documentation

void InducedVelocity::AddForce ( const Elem *  pEl, const StructNode *  pNode, const Vec3 &  F, const Vec3 &  M, const Vec3 &  X  )

virtual

Reimplemented in CyclocopterPolimi, CyclocopterUniform2D, PetersHeRotor, DynamicInflowRotor, CyclocopterUniform1D, ManglerRotor, GlauertRotor, CyclocopterNoInflow, UniformRotor, and NoRotor.

Definition at line 252 of file indvel.cc.

References WithLabel::GetLabel().

Referenced by NoRotor::AddForce(), UniformRotor::AddForce(), CyclocopterNoInflow::AddForce(), GlauertRotor::AddForce(), ManglerRotor::AddForce(), CyclocopterUniform1D::AddForce(), DynamicInflowRotor::AddForce(), PetersHeRotor::AddForce(), CyclocopterUniform2D::AddForce(), CyclocopterPolimi::AddForce(), AddSectionalForce(), and UniformRotor2::AddSectionalForce().

{
        for (int i = 0; ppRes && ppRes[i]; i++) {
                if (ppRes[i]->is_in(pEl->GetLabel())) {
                        ppRes[i]->pRes->AddForces(F, M, X);
                }
        }
}

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void InducedVelocity::AddSectionalForce ( Elem::Type  type, const Elem *  pEl, unsigned  uPnt, const Vec3 &  F, const Vec3 &  M, doublereal  dW, const Vec3 &  X, const Mat3x3 &  R, const Vec3 &  V, const Vec3 &  W  )

virtual

Reimplemented in UniformRotor2.

Definition at line 265 of file indvel.cc.

References AddForce(), ASSERT, and bSectionalForces().

{
        ASSERT(bSectionalForces() == true);
        InducedVelocity::AddForce(pEl, 0, F*dW, M*dW, X);
}

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void InducedVelocity::AfterConvergence ( const VectorHandler &  X, const VectorHandler &  XP  )

virtual

Reimplemented from SimulationEntity.

Reimplemented in CyclocopterPolimi, CyclocopterUniform2D, CyclocopterUniform1D, Rotor, and CyclocopterInflow.

Definition at line 170 of file indvel.cc.

References ASSERT.

Referenced by Rotor::AfterConvergence(), CyclocopterUniform1D::AfterConvergence(), CyclocopterUniform2D::AfterConvergence(), and CyclocopterPolimi::AfterConvergence().

{
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
        ASSERT(bDone);
        bDone = false;
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
}

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

virtual

Implements Elem.

Reimplemented in PetersHeRotor, and DynamicInflowRotor.

Definition at line 181 of file indvel.cc.

References DEBUGCOUT, and VariableSubMatrixHandler::SetNullMatrix().

{
        DEBUGCOUT("Entering InducedVelocity::AssJac()" << std::endl);
        WorkMat.SetNullMatrix();

        return WorkMat;
}

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bool InducedVelocity::bSectionalForces ( void  ) const

virtual

Reimplemented in UniformRotor2.

Definition at line 106 of file indvel.cc.

Referenced by AddSectionalForce().

{
        return false;
}

doublereal InducedVelocity::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 150 of file indvel.cc.

References ASSERT, ResForces::Force(), MBDYN_EXCEPT_ARGS, ResForces::Moment(), and Res.

{
        ASSERT(i > 0 && i <= 6);

        switch (i) {
        case 1:
        case 2:
        case 3:
                return Res.Force()(i);

        case 4:
        case 5:
        case 6:
                return Res.Moment()(i - 3);
        }

        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
}

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

inlinevirtual

Reimplemented from Elem.

Reimplemented in Rotor, and CyclocopterInflow.

Definition at line 242 of file indvel.h.

References pCraft.

                                                                         {
                connectedNodes.resize(1);
                connectedNodes[0] = pCraft;
        };

virtual const Vec3& InducedVelocity::GetForces ( void  ) const

inlinevirtual

Reimplemented in Rotor.

Definition at line 163 of file indvel.h.

References ResForces::Force().

                                                         {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return Res.Force();
        };

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virtual Vec3 InducedVelocity::GetInducedVelocity ( Elem::Type  type, unsigned  uLabel, unsigned  uPnt, const Vec3 &  X  ) const

pure virtual

Implemented in CyclocopterPolimi, CyclocopterUniform2D, PetersHeRotor, DynamicInflowRotor, CyclocopterUniform1D, ManglerRotor, GlauertRotor, CyclocopterNoInflow, UniformRotor, and NoRotor.

Referenced by AerodynamicBody::AssJac(), AerodynamicBeam::AssJac(), AerodynamicBeam2::AssJac(), AerodynamicBody::AssVec(), AerodynamicBeam::AssVec(), and AerodynamicBeam2::AssVec().

virtual InducedVelocity::Type InducedVelocity::GetInducedVelocityType ( void  ) const

pure virtual

Implemented in PetersHeRotor, DynamicInflowRotor, ManglerRotor, GlauertRotor, UniformRotor, NoRotor, and CyclocopterInflow.

virtual const Vec3& InducedVelocity::GetMoments ( void  ) const

inlinevirtual

Reimplemented in Rotor.

Definition at line 170 of file indvel.h.

References ResForces::Moment().

                                                          {
#if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
                Wait();
#endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
                return Res.Moment();
        };

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virtual const Vec3& InducedVelocity::GetXCurr ( void  ) const

inlinevirtual

Reimplemented in Rotor.

Definition at line 159 of file indvel.h.

References StructDispNode::GetXCurr().

Referenced by CyclocopterUniform1D::AfterConvergence(), CyclocopterUniform2D::AfterConvergence(), CyclocopterPolimi::AfterConvergence(), CyclocopterUniform1D::AssRes(), CyclocopterUniform2D::AssRes(), and CyclocopterPolimi::AssRes().

                                                        {
                return pCraft->GetXCurr();
        };

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virtual unsigned int InducedVelocity::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Reimplemented in PetersHeRotor, and DynamicInflowRotor.

Definition at line 152 of file indvel.h.

Referenced by InducedVelocityElem::GetDofType().

                                                    {
                return 0;
        };

unsigned int InducedVelocity::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 112 of file indvel.cc.

                                           {
        return 6;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 117 of file indvel.cc.

References ASSERT.

{
        ASSERT(s != 0);

        unsigned int idx = 0;

        // sanity check
        if (s[0] == '\0' || s[1] == '\0' || s[2] != '\0' ) {
                return 0;
        }

        switch (s[0]) {
        case 'M':
                idx += 3;
                // fallthru

        case 'T':
                switch (s[1]) {
                case 'x':
                        return idx + 1;

                case 'y':
                        return idx + 2;

                case 'z':
                        return idx + 3;
                }
        }

        return 0;
}

void InducedVelocity::ResetForce ( void  )

virtual

Definition at line 276 of file indvel.cc.

References StructDispNode::GetXCurr(), pCraft, Res, and ExternResForces::Reset().

Referenced by NoRotor::AssRes(), UniformRotor::AssRes(), CyclocopterNoInflow::AssRes(), GlauertRotor::AssRes(), ManglerRotor::AssRes(), CyclocopterUniform1D::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), CyclocopterUniform2D::AssRes(), and CyclocopterPolimi::AssRes().

{
        Res.Reset(pCraft->GetXCurr());
        for (int i = 0; ppRes && ppRes[i]; i++) {
                ppRes[i]->pRes->Reset();
        }
}

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virtual void InducedVelocity::SetInitialValue ( VectorHandler &  )

inlinevirtual

Reimplemented in PetersHeRotor, DynamicInflowRotor, Rotor, and CyclocopterInflow.

Definition at line 225 of file indvel.h.

References NO_OP.

                                                        {
                NO_OP;
        };

virtual void InducedVelocity::SetValue ( DataManager *  pDM, VectorHandler &  , VectorHandler &  , SimulationEntity::Hints *  ph = 0  )

inlinevirtual

Reimplemented from SimulationEntity.

Reimplemented in PetersHeRotor, DynamicInflowRotor, and CyclocopterInflow.

Definition at line 231 of file indvel.h.

References NO_OP.

        {
                NO_OP;
        };

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

inlinevirtual

Implements Elem.

Reimplemented in PetersHeRotor, and DynamicInflowRotor.

Definition at line 208 of file indvel.h.

                                                                   {
                *piNumRows = 0;
                *piNumCols = 0;
        };

Member Data Documentation

const StructNode* InducedVelocity::pCraft

protected

Definition at line 111 of file indvel.h.

Referenced by CyclocopterNoInflow::AssRes(), CyclocopterUniform1D::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), CyclocopterUniform2D::AssRes(), CyclocopterPolimi::AssRes(), CyclocopterNoInflow::CyclocopterNoInflow(), CyclocopterPolimi::CyclocopterPolimi(), CyclocopterUniform1D::CyclocopterUniform1D(), CyclocopterUniform2D::CyclocopterUniform2D(), CyclocopterInflow::GetConnectedNodes(), Rotor::GetConnectedNodes(), GetConnectedNodes(), Rotor::Init(), Rotor::InitParam(), ResetForce(), and Rotor::Restart().

ResForceSet** InducedVelocity::ppRes

protected

Definition at line 116 of file indvel.h.

Referenced by CyclocopterNoInflow::CyclocopterNoInflow(), CyclocopterPolimi::CyclocopterPolimi(), CyclocopterUniform1D::CyclocopterUniform1D(), CyclocopterUniform2D::CyclocopterUniform2D(), InducedVelocity(), Rotor::Init(), CyclocopterInflow::Output(), Rotor::Output(), CyclocopterUniform1D::Output(), DynamicInflowRotor::Output(), PetersHeRotor::Output(), CyclocopterUniform2D::Output(), and CyclocopterPolimi::Output().

ExternResForces InducedVelocity::Res

protected

Definition at line 114 of file indvel.h.

Referenced by NoRotor::AddForce(), UniformRotor::AddForce(), CyclocopterNoInflow::AddForce(), GlauertRotor::AddForce(), ManglerRotor::AddForce(), CyclocopterUniform1D::AddForce(), DynamicInflowRotor::AddForce(), PetersHeRotor::AddForce(), CyclocopterUniform2D::AddForce(), CyclocopterPolimi::AddForce(), UniformRotor2::AddSectionalForce(), CyclocopterUniform1D::AssRes(), DynamicInflowRotor::AssRes(), PetersHeRotor::AssRes(), CyclocopterUniform2D::AssRes(), CyclocopterPolimi::AssRes(), dGetPrivData(), Rotor::GetForces(), Rotor::GetMoments(), Rotor::GetPos(), NoRotor::Init(), UniformRotor::Init(), GlauertRotor::Init(), ManglerRotor::Init(), DynamicInflowRotor::Init(), PetersHeRotor::Init(), Rotor::InitParam(), CyclocopterInflow::Output(), Rotor::Output(), CyclocopterUniform1D::Output(), DynamicInflowRotor::Output(), PetersHeRotor::Output(), CyclocopterUniform2D::Output(), CyclocopterPolimi::Output(), and ResetForce().

---

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

• indvel.h
• indvel.cc