LinearAccelerationJoint Class Reference

#include <accj.h>

Inheritance diagram for LinearAccelerationJoint:

Collaboration diagram for LinearAccelerationJoint:

Public Member Functions
	LinearAccelerationJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN, const Vec3 &TmpDir, const DriveCaller *pDC, flag fOut)
	~LinearAccelerationJoint (void)
virtual Joint::Type	GetJointType (void) const
virtual std::ostream &	Restart (std::ostream &out) const
virtual unsigned int	iGetNumDof (void) const
DofOrder::Order	GetDofType (unsigned int i) const
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)
void	Output (OutputHandler &OH) const
virtual void	SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)
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 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 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	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 DriveOwner
	DriveOwner (const DriveCaller *pDC=0)
	DriveOwner (const DriveOwner &drive)
virtual	~DriveOwner (void)
void	Set (const DriveCaller *pDC)
DriveCaller *	pGetDriveCaller (void) const
doublereal	dGet (const doublereal &dVar) const
doublereal	dGet (void) const
bool	bIsDifferentiable (void) const
doublereal	dGetP (const doublereal &dVar) const
doublereal	dGetP (void) const

Private Attributes
const StructNode *	pNode
Vec3	Dir
doublereal	dF

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
Protected Attributes inherited from DriveOwner
DriveCaller *	pDriveCaller

Detailed Description

Definition at line 43 of file accj.h.

Constructor & Destructor Documentation

LinearAccelerationJoint::LinearAccelerationJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN,
		const Vec3 &	TmpDir,
		const DriveCaller *	pDC,
		flag	fOut
	)

Definition at line 41 of file accj.cc.

References ASSERT, Dir, Vec3::Norm(), and pNode.

: Elem(uL, fOut),
Joint(uL, pDO, fOut),
DriveOwner(pDC),
pNode(pN),
Dir(TmpDir),
dF(0.)
{
   ASSERT(pNode != NULL);
   ASSERT(Dir.Norm() > std::numeric_limits<doublereal>::epsilon());
   Dir /= Dir.Norm();
}

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LinearAccelerationJoint::~LinearAccelerationJoint

(

void

)

Definition at line 61 of file accj.cc.

References NO_OP.

{
   NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 111 of file accj.cc.

References Vec3::dGet(), Dir, Node::iGetFirstColIndex(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::Resize(), and VariableSubMatrixHandler::SetSparse().

{
   SparseSubMatrixHandler& WM = WorkMat.SetSparse();
   WM.Resize(8, 0);
   
   integer iNodeRowIndex = pNode->iGetFirstRowIndex();
   integer iNodeColIndex = pNode->iGetFirstColIndex();
   integer iIndex = iGetFirstIndex();
      
   doublereal d = Dir.dGet(1);
   WorkMat.PutItem(1, iIndex+1, iNodeColIndex+1, d);
   WorkMat.PutItem(2, iNodeRowIndex+1, iIndex+2, d);
   d = Dir.dGet(2);
   WorkMat.PutItem(3, iIndex+1, iNodeColIndex+2, d);
   WorkMat.PutItem(4, iNodeRowIndex+2, iIndex+2, d);
   d = Dir.dGet(3);
   WorkMat.PutItem(5, iIndex+1, iNodeColIndex+3, d);
   WorkMat.PutItem(6, iNodeRowIndex+3, iIndex+2, d);
   
   WorkMat.PutItem(7, iIndex+1, iIndex+1, -dCoef);
   WorkMat.PutItem(8, iIndex+2, iIndex+1, 1.);   
   
   return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 141 of file accj.cc.

References dF, DriveOwner::dGet(), Vec3::dGet(), Dir, Vec3::Dot(), StructDispNode::GetVCurr(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SubVectorHandler::PutItem(), and VectorHandler::Resize().

{
   WorkVec.Resize(5);
   
   integer iNodeRowIndex = pNode->iGetFirstRowIndex();
   integer iIndex = iGetFirstIndex();
   
   doublereal dQ = XCurr(iIndex+1);
   doublereal dQP = XPrimeCurr(iIndex+1);
   dF = XCurr(iIndex+2);
   
   Vec3 V = pNode->GetVCurr();
   
   WorkVec.PutItem(1, iNodeRowIndex+1, -dF*Dir.dGet(1));
   WorkVec.PutItem(2, iNodeRowIndex+2, -dF*Dir.dGet(2));
   WorkVec.PutItem(3, iNodeRowIndex+3, -dF*Dir.dGet(3));
   WorkVec.PutItem(4, iIndex+1, dQ-Dir.Dot(V));
   WorkVec.PutItem(5, iIndex+2, dGet()-dQP);
   
   return WorkVec;
}

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doublereal LinearAccelerationJoint::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 247 of file accj.cc.

References dF, DriveOwner::dGet(), and MBDYN_EXCEPT_ARGS.

{
   switch (i) {
    case 1:
      return dF;
    case 2:
      return dGet();
    default:
      throw ErrGeneric(MBDYN_EXCEPT_ARGS);
   }
}

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

inlinevirtual

Reimplemented from Elem.

Definition at line 110 of file accj.h.

References pNode.

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

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

virtual

Reimplemented from Elem.

Definition at line 87 of file accj.cc.

References DofOrder::ALGEBRAIC, ASSERT, DofOrder::DIFFERENTIAL, and MBDYN_EXCEPT_ARGS.

{
   ASSERT(i == 0 || i == 1);
   switch (i) {
    case 0:
      return DofOrder::DIFFERENTIAL;
    case 1:
      return DofOrder::ALGEBRAIC;
    default:
      silent_cerr("invalid dof number" << std::endl);
      throw ErrGeneric(MBDYN_EXCEPT_ARGS);
   }
}

Joint::Type LinearAccelerationJoint::GetJointType ( void  ) const

virtual

Implements Joint.

Definition at line 68 of file accj.cc.

References Joint::LINEARACCELERATION.

{
   return Joint::LINEARACCELERATION;
}

unsigned int LinearAccelerationJoint::iGetInitialNumDof ( void  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 189 of file accj.cc.

{
   return 0;
}

unsigned int LinearAccelerationJoint::iGetNumDof ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 81 of file accj.cc.

{
   return 2;
}

unsigned int LinearAccelerationJoint::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 224 of file accj.cc.

{
   return 2;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 231 of file accj.cc.

References ASSERT.

{
   ASSERT(s != NULL);

   if (strcmp(s, "F") == 0) {
           return 1;
   }

   if (strcmp(s, "a") == 0) {
           return 2;
   }

   return 0;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 205 of file accj.cc.

References VariableSubMatrixHandler::SetNullMatrix().

{
   WorkMat.SetNullMatrix();
   return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 215 of file accj.cc.

References VectorHandler::Resize().

{
   WorkVec.Resize(0);
   return WorkVec;
}

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void LinearAccelerationJoint::InitialWorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 195 of file accj.cc.

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

void LinearAccelerationJoint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 167 of file accj.cc.

References dF, DriveOwner::dGet(), Dir, WithLabel::GetLabel(), OutputHandler::Joints(), Joint::Output(), and Zero3.

{
   Joint::Output(OH.Joints(), "LinearAcc", GetLabel(), 
                 Vec3(dF, 0., 0.), Zero3, Dir*dF, Zero3) 
     << " " << dGet() << std::endl;
}

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

virtual

Implements Elem.

Definition at line 75 of file accj.cc.

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

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

virtual

Reimplemented from Joint.

Definition at line 175 of file accj.cc.

References Dir, StructDispNode::GetVCurr(), DofOwnerOwner::iGetFirstIndex(), and pNode.

{
        // TODO: hints (e.g. get drive, get orientation)
        integer iIndex = iGetFirstIndex();

        // inherit initial velocity from node's
        const Vec3& V(pNode->GetVCurr());
        X(iIndex + 1) = Dir*V;
}

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

virtual

Implements Elem.

Definition at line 102 of file accj.cc.

{
   *piNumRows = 5;
   *piNumCols = 5;
}

Member Data Documentation

doublereal LinearAccelerationJoint::dF

private

Definition at line 48 of file accj.h.

Referenced by AssRes(), dGetPrivData(), and Output().

Vec3 LinearAccelerationJoint::Dir

private

Definition at line 47 of file accj.h.

Referenced by AssJac(), AssRes(), LinearAccelerationJoint(), Output(), and SetValue().

const StructNode* LinearAccelerationJoint::pNode

private

Definition at line 46 of file accj.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), LinearAccelerationJoint(), and SetValue().

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

• accj.h
• accj.cc