ModuleIMU Class Reference

Inheritance diagram for ModuleIMU:

Collaboration diagram for ModuleIMU:

Public Member Functions
	ModuleIMU (unsigned uLabel, const DofOwner *pDO, DataManager *pDM, MBDynParser &HP)
virtual	~ModuleIMU (void)
virtual void	Output (OutputHandler &OH) 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)
unsigned int	iGetNumPrivData (void) const
unsigned int	iGetPrivDataIdx (const char *s) const
doublereal	dGetPrivData (unsigned int i) const
int	iGetNumConnectedNodes (void) const
void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph)
std::ostream &	Restart (std::ostream &out) 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)
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 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 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 UserDefinedElem
	UserDefinedElem (unsigned uLabel, const DofOwner *pDO)
virtual	~UserDefinedElem (void)
bool	NeedsAirProperties (void) const
void	NeedsAirProperties (bool yesno)
virtual Elem::Type	GetElemType (void) const
virtual AerodynamicElem::Type	GetAerodynamicElemType (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 AerodynamicElem
	AerodynamicElem (unsigned int uL, const DofOwner *pDO, flag fOut)
virtual	~AerodynamicElem (void)
virtual const InducedVelocity *	pGetInducedVelocity (void) 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
virtual void	SetInitialValue (VectorHandler &X)
Public Member Functions inherited from AirPropOwner
	AirPropOwner (void)
virtual	~AirPropOwner (void)
virtual void	PutAirProperties (const AirProperties *pAP)
virtual flag	fGetAirVelocity (Vec3 &Velocity, const Vec3 &X) const
virtual doublereal	dGetAirDensity (const Vec3 &X) const
virtual doublereal	dGetAirPressure (const Vec3 &X) const
virtual doublereal	dGetAirTemperature (const Vec3 &X) const
virtual doublereal	dGetSoundSpeed (const Vec3 &X) const
virtual bool	GetAirProps (const Vec3 &X, doublereal &rho, doublereal &c, doublereal &p, doublereal &T) 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

Private Attributes
const StructNode *	m_pNode
Vec3	m_tilde_f
Mat3x3	m_tilde_Rh
Vec3	m_overline_f
Vec3	m_overline_Omega
Vec3	m_overline_Acceleration

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 AerodynamicElem
enum	Type {   UNKNOWN = -1, INDUCEDVELOCITY = 0, AEROMODAL, AERODYNAMICBODY,   AERODYNAMICBEAM, AERODYNAMICEXTERNAL, AERODYNAMICEXTERNALMODAL, AERODYNAMICLOADABLE,   AIRCRAFTINSTRUMENTS, GENERICFORCE, LASTAEROTYPE }
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 UserDefinedElem
bool	needsAirProperties
Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties
Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 41 of file module-imu.cc.

Constructor & Destructor Documentation

ModuleIMU::ModuleIMU	(	unsigned	uLabel,
		const DofOwner *	pDO,
		DataManager *	pDM,
		MBDynParser &	HP
	)

Definition at line 89 of file module-imu.cc.

References StructDispNode::bComputeAccelerations(), DataManager::fReadOutput(), MBDynParser::GetPosRel(), MBDynParser::GetRotRel(), HighParser::IsArg(), HighParser::IsKeyWord(), Elem::LOADABLE, m_overline_f, m_pNode, m_tilde_f, m_tilde_Rh, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), DataManager::ReadNode(), ToBeOutput::SetOutputFlag(), and Node::STRUCTURAL.

: Elem(uLabel, flag(0)),
UserDefinedElem(uLabel, pDO),
m_pNode(0),
m_tilde_f(::Zero3),
m_tilde_Rh(::Eye3),
m_overline_f(::Zero3),
m_overline_Omega(::Zero3),
m_overline_Acceleration(::Zero3)
{
        // help
        if (HP.IsKeyWord("help")) {
                silent_cout(
"                                                                       \n"
"Module:        imu                                                     \n"
"Author:        Pierangelo Masarati <masarati@aero.polimi.it>           \n"
"Organization:  Dipartimento di Ingegneria Aerospaziale                 \n"
"               Politecnico di Milano                                   \n"
"               http://www.aero.polimi.it/                              \n"
"                                                                       \n"
"All rights reserved                                                    \n"
"                                                                       \n"
"Syntax:                                                                \n"
"       user defined : <label> , imu ,                                  \n"
"               <node_label>                                            \n"
"               [ , position , (Vec3)<offset> ]                         \n"
"               [ , orientation , (OrientationMatrix)<orientation> ]    \n"
                        << std::endl);

                if (!HP.IsArg()) {
                        /*
                         * Exit quietly if nothing else is provided
                         */
                        throw NoErr(MBDYN_EXCEPT_ARGS);
                }
        }

        m_pNode = pDM->ReadNode<const StructNode, Node::STRUCTURAL>(HP);
        if (!m_pNode->bComputeAccelerations()) {
                const_cast<StructNode *>(m_pNode)->ComputeAccelerations(true);
        }

        ReferenceFrame RF(m_pNode);
        if (HP.IsKeyWord("position")) {
                m_tilde_f = HP.GetPosRel(RF);
        }

        if (HP.IsKeyWord("orientation")) {
                m_tilde_Rh = HP.GetRotRel(RF);
        }

        SetOutputFlag(pDM->fReadOutput(HP, Elem::LOADABLE));

        m_overline_f = m_tilde_Rh.MulTV(m_tilde_f);
}

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ModuleIMU::~ModuleIMU ( void  )

virtual

Definition at line 147 of file module-imu.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 173 of file module-imu.cc.

References VariableSubMatrixHandler::SetNullMatrix().

{
        WorkMat.SetNullMatrix();

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 184 of file module-imu.cc.

References Vec3::Cross(), StructNode::GetRCurr(), StructNode::GetWCurr(), StructNode::GetWPCurr(), StructDispNode::GetXPPCurr(), Vec3::IsNull(), m_overline_Acceleration, m_overline_f, m_overline_Omega, m_pNode, m_tilde_Rh, Mat3x3::MulTV(), R, and VectorHandler::ResizeReset().

{
        WorkVec.ResizeReset(0);

        Mat3x3 R(m_pNode->GetRCurr()*m_tilde_Rh);
        m_overline_Omega = R.MulTV(m_pNode->GetWCurr());

        m_overline_Acceleration = R.MulTV(m_pNode->GetXPPCurr());
        if (!m_overline_f.IsNull()) {
                Vec3 OmegaP(R.MulTV(m_pNode->GetWPCurr()));
                m_overline_Acceleration += OmegaP.Cross(m_overline_f);
                m_overline_Acceleration += m_overline_Omega.Cross(m_overline_Omega.Cross(m_overline_f));
        }

        return WorkVec;
}

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doublereal ModuleIMU::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 248 of file module-imu.cc.

References ASSERT, iGetNumPrivData(), m_overline_Acceleration, and m_overline_Omega.

{
        ASSERT(i > 1 && i <= iGetNumPrivData());

        switch (i) {
        case 1:
        case 2:
        case 3:
                return m_overline_Omega(i);

        case 4:
        case 5:
        case 6:
                return m_overline_Acceleration(i - 3);
        }

        return 0.;
}

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

virtual

Reimplemented from Elem.

Definition at line 274 of file module-imu.cc.

References m_pNode.

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

unsigned int ModuleIMU::iGetInitialNumDof ( void  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 295 of file module-imu.cc.

{
        return 0;
}

int ModuleIMU::iGetNumConnectedNodes

(

void

)

const

Definition at line 268 of file module-imu.cc.

{
        return 1;
}

unsigned int ModuleIMU::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 205 of file module-imu.cc.

Referenced by dGetPrivData().

{
        return 3 + 3;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 211 of file module-imu.cc.

{
        unsigned idx = 0;

        switch (s[0]) {
        case 'w':
                break;

        case 'a':
                idx += 3;
                break;

        default:
                return 0;
        }

        switch (s[1]) {
        case 'x':
                idx += 1;
                break;

        case 'y':
                idx += 2;
                break;

        case 'z':
                idx += 3;
                break;

        default:
                return 0;
        }

        return idx;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 310 of file module-imu.cc.

References ASSERT, and VariableSubMatrixHandler::SetNullMatrix().

{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkMat.SetNullMatrix();

        return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 323 of file module-imu.cc.

References ASSERT, and VectorHandler::ResizeReset().

{
        // should not be called, since initial workspace is empty
        ASSERT(0);

        WorkVec.ResizeReset(0);

        return WorkVec;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 301 of file module-imu.cc.

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

void ModuleIMU::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 153 of file module-imu.cc.

References ToBeOutput::bToBeOutput(), WithLabel::GetLabel(), OutputHandler::Loadable(), m_overline_Acceleration, and m_overline_Omega.

{
        if (bToBeOutput()) {
                std::ostream& out = OH.Loadable();

                out << std::setw(8) << GetLabel()
                        << " " << m_overline_Omega
                        << " " << m_overline_Acceleration
                        << std::endl;
        }
}

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

virtual

Implements Elem.

Definition at line 289 of file module-imu.cc.

{
        return out << "# ModuleIMU: not implemented" << std::endl;
}

void ModuleIMU::SetValue ( DataManager *  pDM, VectorHandler &  X, VectorHandler &  XP, SimulationEntity::Hints *  ph  )

virtual

Reimplemented from SimulationEntity.

Definition at line 281 of file module-imu.cc.

References NO_OP.

{
        NO_OP;
}

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

virtual

Implements Elem.

Definition at line 166 of file module-imu.cc.

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

Member Data Documentation

Vec3 ModuleIMU::m_overline_Acceleration

private

Definition at line 52 of file module-imu.cc.

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

Vec3 ModuleIMU::m_overline_f

private

Definition at line 49 of file module-imu.cc.

Referenced by AssRes(), and ModuleIMU().

Vec3 ModuleIMU::m_overline_Omega

private

Definition at line 51 of file module-imu.cc.

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

const StructNode* ModuleIMU::m_pNode

private

Definition at line 45 of file module-imu.cc.

Referenced by AssRes(), GetConnectedNodes(), and ModuleIMU().

Vec3 ModuleIMU::m_tilde_f

private

Definition at line 46 of file module-imu.cc.

Referenced by ModuleIMU().

Mat3x3 ModuleIMU::m_tilde_Rh

private

Definition at line 47 of file module-imu.cc.

Referenced by AssRes(), and ModuleIMU().

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

• module-imu.cc