#include <modalforce.h>

Inheritance diagram for ModalForce:

Collaboration diagram for ModalForce:

Public Member Functions
	ModalForce (unsigned int uL, const Modal pmodal, const std::vector< unsigned int > &modeList, std::vector< DriveCaller > &f, const Mat3xN Mt, const Mat3xN Mr, flag fOut)

virtual	~ModalForce (void)

virtual Force::Type	GetForceType (void) const

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

virtual void	Output (OutputHandler &OH) const

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

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

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 Force
	Force (unsigned int uL, flag fOut)

virtual	~Force (void)

virtual Elem::Type	GetElemType (void) const

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

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

virtual unsigned int	iGetInitialNumDof (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)

Protected Attributes
const Modal *	pModal

std::vector< unsigned int >	modeList

std::vector< DriveCaller * >	f

const Mat3xN *	Mt

const Mat3xN *	Mr

Vec3	F

Vec3	M

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 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 Force
enum	Type { UNKNOWN = -1, ABSTRACTFORCE = 0, ABSTRACTINTERNALFORCE, ABSOLUTEDISPFORCE, ABSOLUTEINTERNALDISPFORCE, ABSOLUTEFORCE, FOLLOWERFORCE, ABSOLUTECOUPLE, FOLLOWERCOUPLE, ABSOLUTEINTERNALFORCE, FOLLOWERINTERNALFORCE, ABSOLUTEINTERNALCOUPLE, FOLLOWERINTERNALCOUPLE, TOTALFORCE, TOTALINTERNALFORCE, EXTERNALSTRUCTURAL, MODALFORCE, EXTERNALMODAL, LASTFORCETYPE }

Detailed Description

Definition at line 44 of file modalforce.h.

Constructor & Destructor Documentation

ModalForce::ModalForce	(	unsigned int	uL,
		const Modal *	pmodal,
		const std::vector< unsigned int > &	modeList,
		std::vector< DriveCaller * > &	f,
		const Mat3xN *	Mt,
		const Mat3xN *	Mr,
		flag	fOut
	)

Definition at line 43 of file modalforce.cc.

References ASSERT, and pModal.

 : Elem(uL, fOut), 
 Force(uL, fOut), 
 pModal(pmodal),
 modeList(modeList),
 f(f),
 Mt(mt),
 Mr(mr),
 F(Zero3),
 M(Zero3)
 {
         ASSERT(pModal != 0);
 }

ModalForce::~ModalForce ( void )

virtual

Definition at line 63 of file modalforce.cc.

References f, Mr, and Mt.

 {
         if (!f.empty()) {
                 for (unsigned i = 0; i < f.size(); i++) {
                         delete f[i];
                 }
         }
 
         if (Mt) {
                 delete Mt;
         }
 
         if (Mr) {
                 delete Mr;
         }
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 81 of file modalforce.cc.

References f, F, StructNode::GetRCurr(), Mat3xN::GetVec(), StructDispNode::iGetFirstMomentumIndex(), Modal::iGetModalIndex(), M, modeList, Mr, Mt, Modal::pGetModalNode(), pModal, VectorHandler::Put(), SubVectorHandler::PutItem(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), Modal::uGetNModes(), WorkSpaceDim(), and Zero3.

 {
         integer iR, iC;
         WorkSpaceDim(&iR, &iC);
         WorkVec.ResizeReset(iR);
 
         integer iIdx = 1;
         const StructNode *pNode = pModal->pGetModalNode();
         integer iFirstIndex = 0;
         if (pNode) {
                 iFirstIndex = pNode->iGetFirstMomentumIndex();
 
                 for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                         WorkVec.PutRowIndex(iCnt, iFirstIndex + iCnt);
                 }
 
                 F = Zero3;
                 M = Zero3;
 
                 iIdx += 6;
 
         }
 
         integer iModalIndex = pModal->iGetModalIndex() + pModal->uGetNModes();
         for (unsigned iMode = 0; iMode < modeList.size(); iMode++) {
                 doublereal d = f[iMode]->dGet();
                 WorkVec.PutItem(iIdx + iMode, iModalIndex + modeList[iMode], d);
                 if (pNode) {
                         F += Mt->GetVec(iMode + 1)*d;
                         M += Mr->GetVec(iMode + 1)*d;
                 }
         }
 
         if (pNode) {
                 WorkVec.Put(1, pNode->GetRCurr()*F);
                 WorkVec.Put(4, pNode->GetRCurr()*M);
         }
 
         return WorkVec;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 109 of file modalforce.h.

References Modal::pGetModalNode(), and pModal.

                                                                          {
                 if (pModal->pGetModalNode()) {
                         connectedNodes.resize(1);
                         connectedNodes[0] = pModal->pGetModalNode();
                 } else {
                         connectedNodes.resize(0);
                 }
         };

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virtual Force::Type ModalForce::GetForceType ( void ) const

inlinevirtual

Implements Force.

Definition at line 66 of file modalforce.h.

References Force::MODALFORCE.

                                                    { 
                 return Force::MODALFORCE; 
         };

virtual VariableSubMatrixHandler& ModalForce::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

inlinevirtual

Reimplemented from Force.

Definition at line 89 of file modalforce.h.

References VariableSubMatrixHandler::SetNullMatrix().

         {
                 WorkMat.SetNullMatrix();
                 return WorkMat;
         };

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virtual SubVectorHandler& ModalForce::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 98 of file modalforce.h.

References VectorHandler::ResizeReset().

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

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 82 of file modalforce.h.

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

void ModalForce::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 126 of file modalforce.cc.

References ToBeOutput::bToBeOutput(), Vec3::dGet(), f, F, OutputHandler::Forces(), WithLabel::GetLabel(), M, Modal::pGetModalNode(), and pModal.

 {
         if (bToBeOutput()) {
                 std::ostream& out = OH.Forces();
 
                 out << GetLabel();
 
                 if (pModal->pGetModalNode()) {
                         out << " " << F << " " << M;
                 }
 
                 for (std::vector<DriveCaller *>::const_iterator i = f.begin(); i != f.end(); ++i) {
                         out << " " << (*i)->dGet();
                 }
                 out << std::endl;
         }
 }

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

inlinevirtual

Implements Elem.

Definition at line 70 of file modalforce.h.

References modeList, Modal::pGetModalNode(), and pModal.

Referenced by AssRes().

                                                                         { 
                 *piNumRows = (pModal->pGetModalNode() ? 6 : 0) + modeList.size();
                 *piNumCols = 1;
         };