#include <body.h>

Inheritance diagram for ModalBody:

Collaboration diagram for ModalBody:

Public Member Functions
	ModalBody (unsigned int uL, const ModalNode *pNodeTmp, doublereal dMassTmp, const Vec3 &XgcTmp, const Mat3x3 &JTmp, flag fOut)

virtual	~ModalBody (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)

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	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 DynamicBody
	DynamicBody (unsigned int uL, const DynamicStructNode *pNodeTmp, doublereal dMassTmp, const Vec3 &XgcTmp, const Mat3x3 &JTmp, flag fOut)

virtual	~DynamicBody (void)

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 Body
	Body (unsigned int uL, const StructNode *pNode, doublereal dMassTmp, const Vec3 &XgcTmp, const Mat3x3 &JTmp, flag fOut)

virtual	~Body (void)

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

doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

const StructNode *	pGetNode (void) const

virtual Elem::Type	GetElemType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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

Private Attributes
Vec3	XPP

Vec3	WP

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 Body
Vec3	GetS_int (void) const

Mat3x3	GetJ_int (void) const

void	AssVecRBK_int (SubVectorHandler &WorkVec)

void	AssMatsRBK_int (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const doublereal &dCoef, const Vec3 &Sc)

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from Body
const StructNode *	pNode

doublereal	dMass

Vec3	Xgc

Vec3	S0

Mat3x3	J0

Vec3	STmp

Mat3x3	JTmp

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 425 of file body.h.

Constructor & Destructor Documentation

ModalBody::ModalBody	(	unsigned int	uL,
		const ModalNode *	pNodeTmp,
		doublereal	dMassTmp,
		const Vec3 &	XgcTmp,
		const Mat3x3 &	JTmp,
		flag	fOut
	)

Definition at line 1427 of file body.cc.

References NO_OP.

 : Elem(uL, fOut),
 DynamicBody(uL, pNode, dMass, Xgc, J, fOut),
 XPP(::Zero3), WP(::Zero3)
 {
         NO_OP;
 }

ModalBody::~ModalBody ( void )

virtual

Definition at line 1441 of file body.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 1454 of file body.cc.

References AssMats(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Body::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUTFNAME("ModalBody::AssJac");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(),
                 GravityAcceleration);
 
         const integer iNumRows = 12;
 
         /* Dimensiona e resetta la matrice di lavoro */
         WM.ResizeReset(iNumRows, 12);
 
         /* 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 */
         const integer iFirstIndexModal = pNode->iGetFirstIndex();
         for (integer iCnt = 1; iCnt <= 12; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstIndexModal + iCnt);
         }
 
         for (integer iCnt = 1; iCnt <= 12; ++iCnt) {
                 WM.PutColIndex(iCnt, iFirstIndexModal + iCnt);
         }
 
         AssMats(WM, WM, dCoef, XCurr, XPrimeCurr, g, GravityAcceleration);
 
         return WorkMat;
 }

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void ModalBody::AssMats	(	FullSubMatrixHandler &	WorkMatA,
		FullSubMatrixHandler &	WorkMatB,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr,
		bool	bGravity,
		const Vec3 &	GravityAcceleration
	)

private

Definition at line 1540 of file body.cc.

References FullSubMatrixHandler::Add(), Body::AssMatsRBK_int(), DEBUGCOUTFNAME, Body::dMass, StructNode::GetRCurr(), StructNode::GetRRef(), StructNode::GetWCurr(), Body::J0, Body::JTmp, Mat3x3DEye, MatCross, MatCrossCross, Mat3x3::MulTV(), Mat3x3::MulTVCross(), StructDispNode::pGetRBK(), Body::pNode, Body::S0, Body::STmp, FullSubMatrixHandler::Sub(), WP, and XPP.

Referenced by AssJac(), and AssMats().

 {
         DEBUGCOUTFNAME("ModalBody::AssMats");
 
         const Vec3& W(pNode->GetWCurr());
 
         Vec3 Sc(STmp*dCoef);
         
         const Mat3x3& RRef = pNode->GetRRef();
         const Mat3x3& RCurr = pNode->GetRCurr();
 
         const Mat3x3 J12A = (Mat3x3(MatCross, WP) + Mat3x3(MatCrossCross, W, W)).MulVCross(RRef * S0 * (-dCoef));
         const Mat3x3 J13B(Mat3x3DEye, dMass);
         const Mat3x3 J14A = (Mat3x3(MatCrossCross, W, STmp) + Mat3x3(MatCross, W.Cross(STmp))) * (-dCoef);
         const Mat3x3 J14B(MatCross, -STmp);
         const Mat3x3 J22A = (Mat3x3(MatCrossCross, W, RRef * J0 * RCurr.MulTV(W))
                 - Mat3x3(MatCrossCross, XPP, RRef * S0)
                 - W.Cross(RCurr * J0 * RRef.MulTVCross(W))
                 + Mat3x3(MatCross, RRef * J0 * RCurr.MulTV(WP))
                 - RCurr * J0 * RRef.MulTVCross(WP))* (-dCoef);
         const Mat3x3 J23B(MatCross, STmp);
         const Mat3x3 J24A = (Mat3x3(MatCross, JTmp * W) - W.Cross(JTmp)) * (-dCoef);
         const Mat3x3 J24B = JTmp;
 
         WMA.Add(6 + 1, 3 + 1, J12A);
         WMB.Add(6 + 1, 6 + 1, J13B);
         WMA.Add(6 + 1, 9 + 1, J14A);
         WMB.Add(6 + 1, 9 + 1, J14B);
         WMA.Add(9 + 1, 3 + 1, J22A);
         WMB.Add(9 + 1, 6 + 1, J23B);
         WMA.Add(9 + 1, 9 + 1, J24A);
         WMB.Add(9 + 1, 9 + 1, J24B);
 
         if (bGravity) {
                 WMA.Sub(9 + 1, 3 + 1, Mat3x3(MatCrossCross, GravityAcceleration, Sc));
         }
 
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
         if (pRBK) {
                 AssMatsRBK_int(WMA, WMB, dCoef, Sc);
         }
 }

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

virtual

Reimplemented from Elem.

Definition at line 1497 of file body.cc.

References AssMats(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), Body::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUTFNAME("ModalBody::AssMats");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(),
                 GravityAcceleration);
 
         const integer iNumRows = 12;
 
         /* Dimensiona e resetta la matrice di lavoro */
         WMA.ResizeReset(iNumRows, 12);
         WMB.ResizeReset(iNumRows, 12);
 
         /* 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 iFirstIndexModal = pNode->iGetFirstIndex();
         for (integer iCnt = 1; iCnt <= 12; iCnt++) {
                 WMA.PutRowIndex(iCnt, iFirstIndexModal + iCnt);
                 WMA.PutColIndex(iCnt, iFirstIndexModal + iCnt);
 
                 WMB.PutRowIndex(iCnt, iFirstIndexModal + iCnt);
                 WMB.PutColIndex(iCnt, iFirstIndexModal + iCnt);
         }
 
         AssMats(WMA, WMB, 1., XCurr, XPrimeCurr, g, GravityAcceleration);
 }

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

virtual

Implements Elem.

Definition at line 1591 of file body.cc.

References VectorHandler::Add(), DynamicStructNode::AddInertia(), ASSERT, Body::AssVecRBK_int(), GravityOwner::bGetGravity(), Vec3::Cross(), DEBUGCOUTFNAME, VectorHandler::dGetCoef(), Body::dMass, StructNode::GetRCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), Body::J0, Body::JTmp, Mat3x3::MulMT(), StructDispNode::pGetRBK(), Body::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), Body::S0, Body::STmp, WP, and XPP.

 {
         DEBUGCOUTFNAME("ModalBody::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();
 
         const integer iNumRows = 12;
 
         WorkVec.ResizeReset(iNumRows);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= iNumRows; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         const Vec3& W(pNode->GetWCurr());
 
         /* Aggiorna i suoi dati (saranno pronti anche per AssJac) */
         const Mat3x3& R(pNode->GetRCurr());
         STmp = R*S0;
         JTmp = R*J0.MulMT(R);
 
         const integer iFirstIndexModal = pNode->iGetFirstIndex();
 
         for (integer i = 1; i <= 3; ++i) {
                 XPP(i) = XPrimeCurr.dGetCoef(iFirstIndexModal + i + 6);
                 WP(i) = XPrimeCurr.dGetCoef(iFirstIndexModal + i + 9);
         }
 
         const Vec3 F = XPP * -dMass - WP.Cross(STmp) - W.Cross(W.Cross(STmp));
         const Vec3 M = -STmp.Cross(XPP) - W.Cross(JTmp * W) - JTmp * WP;
 
         WorkVec.Add(6 + 1, F);
         WorkVec.Add(9 + 1, M);
         
         if (g) {
                 WorkVec.Add(6 + 1, GravityAcceleration*dMass);
                 /* FIXME: this should go into Jacobian matrix
                  * as Gravity /\ S /\ Delta g */
                 WorkVec.Add(9 + 1, STmp.Cross(GravityAcceleration));
         }
 
         if (pRBK) {
                 AssVecRBK_int(WorkVec);
         }
 
         const DynamicStructNode *pDN = dynamic_cast<const DynamicStructNode *>(pNode);
         ASSERT(pDN != 0);
 
         pDN->AddInertia(dMass, STmp, JTmp);
 
         return WorkVec;
 }

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

virtual

Implements Elem.

Definition at line 1447 of file body.cc.

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

Member Data Documentation

Vec3 ModalBody::WP

private

Definition at line 428 of file body.h.

Referenced by AssMats(), and AssRes().

Vec3 ModalBody::XPP

private

Definition at line 428 of file body.h.

Referenced by AssMats(), and AssRes().

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation