ModuleIMUConstraint Class Reference

Inheritance diagram for ModuleIMUConstraint:

Collaboration diagram for ModuleIMUConstraint:

Public Member Functions
	ModuleIMUConstraint (unsigned uLabel, const DofOwner *pDO, DataManager *pDM, MBDynParser &HP)
virtual	~ModuleIMUConstraint (void)
unsigned int	iGetNumDof (void) const
DofOrder::Order	GetDofType (unsigned int i) const
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 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	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
TplDriveOwner< Vec3 >	m_OmegaDrv
TplDriveOwner< Vec3 >	m_AccelerationDrv
Vec3	m_LambdaOmega
Vec3	m_LambdaAcceleration
Vec3	m_v
Vec3	m_vP

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 339 of file module-imu.cc.

Constructor & Destructor Documentation

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

Definition at line 417 of file module-imu.cc.

References DataManager::fReadOutput(), ToBeOutput::fToBeOutput(), DataManager::GetOrientationDescription(), MBDynParser::GetPosRel(), StructNode::GetRCurr(), MBDynParser::GetRotRel(), HighParser::IsArg(), HighParser::IsKeyWord(), Elem::LOADABLE, m_AccelerationDrv, m_OmegaDrv, m_overline_f, m_pNode, m_tilde_f, m_tilde_Rh, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), StructDispNode::OUTPUT_ACCELERATIONS, ReadDCVecRel(), DataManager::ReadNode(), TplDriveOwner< T >::Set(), ToBeOutput::SetOutputFlag(), Node::STRUCTURAL, and Zero3.

: Elem(uLabel, flag(0)),
UserDefinedElem(uLabel, pDO),
m_pNode(0),
m_tilde_f(::Zero3),
m_tilde_Rh(::Eye3),
m_overline_f(::Zero3),
m_LambdaOmega(::Zero3),
m_LambdaAcceleration(::Zero3),
m_v(::Zero3),
m_vP(::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 constraint,                        \n"
"               <node_label> ,                                          \n"
"               [ position , (Vec3)<offset> , ]                         \n"
"               [ orientation , (OrientationMatrix)<orientation> , ]    \n"
"               (TplDriveCaller<Vec3>) <omega> ,                        \n"
"               (TplDriveCaller<Vec3>) <acceleration>                   \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);
        flag fOut = m_pNode->fToBeOutput();
        if (!(fOut & StructNode::OUTPUT_ACCELERATIONS)) {
                const_cast<StructNode *>(m_pNode)->SetOutputFlag(fOut | StructNode::OUTPUT_ACCELERATIONS);
        }

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

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

        ReferenceFrame RFh(0, ::Zero3,
                m_pNode->GetRCurr()*m_tilde_Rh,
                ::Zero3, ::Zero3,
                pDM->GetOrientationDescription());

        TplDriveCaller<Vec3> *pOmegaDC = ReadDCVecRel(pDM, HP, RFh);
        m_OmegaDrv.Set(pOmegaDC);

        TplDriveCaller<Vec3> *pAccelerationDC = ReadDCVecRel(pDM, HP, RFh);
        m_AccelerationDrv.Set(pAccelerationDC);

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

        m_overline_f = m_tilde_Rh.MulTV(m_tilde_f);
}

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ModuleIMUConstraint::~ModuleIMUConstraint ( void  )

virtual

Definition at line 491 of file module-imu.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 540 of file module-imu.cc.

References FullSubMatrixHandler::Add(), FullSubMatrixHandler::AddT(), grad::Cross(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), m_LambdaAcceleration, m_LambdaOmega, m_pNode, m_tilde_f, m_tilde_Rh, MatCross, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

{
        FullSubMatrixHandler& WM = WorkMat.SetFull();

        WM.ResizeReset(15, 15);

        integer iFirstPositionIndex = m_pNode->iGetFirstPositionIndex();
        integer iFirstMomentumIndex = m_pNode->iGetFirstMomentumIndex();
        integer iFirstIndex = iGetFirstIndex();

        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WM.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
        }

        for (integer iCnt = 1; iCnt <= 9; iCnt++) {
                WM.PutRowIndex(6 + iCnt, iFirstIndex + iCnt);
                WM.PutColIndex(6 + iCnt, iFirstIndex + iCnt);
        }

        Mat3x3 R(m_pNode->GetRCurr()*m_tilde_Rh);
        Vec3 f(m_pNode->GetRCurr()*m_tilde_f);

        Vec3 F(R*(m_LambdaAcceleration*dCoef));
        Vec3 M(R*(m_LambdaOmega*dCoef) + f.Cross(F));

        WM.Sub(1, 4, Mat3x3(MatCross, F));
        WM.Sub(4, 4, Mat3x3(MatCross, M));

        WM.Add(1, 7, R);
        WM.Add(4, 10, R);

        WM.AddT(7, 1, R);
        WM.AddT(10, 4, R);

        Mat3x3 Tmp(f.Cross(R));
        WM.Add(4, 7, Tmp);
        Tmp -= (m_pNode->GetVCurr()*dCoef).Cross(R);
        WM.AddT(7, 4, Tmp);

        for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                WM.PutCoef(6 + iCnt, 12 + iCnt, -dCoef);
                WM.PutCoef(12 + iCnt, 12 + iCnt, 1.);
        }

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 592 of file module-imu.cc.

References VectorHandler::Add(), Vec3::Cross(), TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), m_AccelerationDrv, m_LambdaAcceleration, m_LambdaOmega, m_OmegaDrv, m_overline_f, m_pNode, m_tilde_f, m_tilde_Rh, m_v, m_vP, Mat3x3::MulTV(), SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), and VectorHandler::Sub().

{
        WorkVec.ResizeReset(15);

        integer iFirstMomentumIndex = m_pNode->iGetFirstMomentumIndex();
        integer iFirstIndex = iGetFirstIndex();

        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
        }

        for (integer iCnt = 1; iCnt <= 9; iCnt++) {
                WorkVec.PutRowIndex(6 + iCnt, iFirstIndex + iCnt);
        }

        m_LambdaAcceleration = Vec3(XCurr, iFirstIndex + 1);
        m_LambdaOmega = Vec3(XCurr, iFirstIndex + 4);
        m_v = Vec3(XCurr, iFirstIndex + 7);
        m_vP = Vec3(XPrimeCurr, iFirstIndex + 7);

        Mat3x3 R(m_pNode->GetRCurr()*m_tilde_Rh);
        Vec3 f(m_pNode->GetRCurr()*m_tilde_f);

        Vec3 F(R*m_LambdaAcceleration);
        Vec3 M(R*m_LambdaOmega + f.Cross(F));

        Vec3 Omega(R.MulTV(m_pNode->GetWCurr()));

        WorkVec.Sub(1, F);
        WorkVec.Sub(4, M);
        WorkVec.Add(7, m_v - R.MulTV(m_pNode->GetVCurr()) - Omega.Cross(m_overline_f));
        WorkVec.Add(10, m_OmegaDrv.Get() - Omega);
        WorkVec.Add(13, m_AccelerationDrv.Get() - m_vP);

        return WorkVec;
}

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doublereal ModuleIMUConstraint::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 645 of file module-imu.cc.

{
        return 0.;
}

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

virtual

Reimplemented from Elem.

Definition at line 657 of file module-imu.cc.

References m_pNode.

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

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

virtual

Reimplemented from Elem.

Definition at line 503 of file module-imu.cc.

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

{
        if (i >= 0 && i < 6) {
                return DofOrder::ALGEBRAIC;
        }

        if (i >= 6 && i < 9) {
                return DofOrder::DIFFERENTIAL;
        }

        ASSERT(0);
        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
}

unsigned int ModuleIMUConstraint::iGetInitialNumDof ( void  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 682 of file module-imu.cc.

{
        return 0;
}

int ModuleIMUConstraint::iGetNumConnectedNodes

(

void

)

const

Definition at line 651 of file module-imu.cc.

{
        return 1;
}

unsigned int ModuleIMUConstraint::iGetNumDof ( void  ) const

virtual

Reimplemented from Elem.

Definition at line 497 of file module-imu.cc.

{
        return 9;
}

unsigned int ModuleIMUConstraint::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 633 of file module-imu.cc.

{
        return 0;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 639 of file module-imu.cc.

{
        return 0;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 697 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 & ModuleIMUConstraint::InitialAssRes ( SubVectorHandler &  WorkVec, const VectorHandler &  XCurr  )

virtual

Implements SubjectToInitialAssembly.

Definition at line 710 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 ModuleIMUConstraint::InitialWorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 688 of file module-imu.cc.

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

void ModuleIMUConstraint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 518 of file module-imu.cc.

References ToBeOutput::bToBeOutput(), WithLabel::GetLabel(), OutputHandler::Loadable(), m_LambdaAcceleration, m_LambdaOmega, m_v, and m_vP.

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

                out << std::setw(8) << GetLabel()
                        << " " << m_LambdaOmega
                        << " " << m_LambdaAcceleration
                        << " " << m_v
                        << " " << m_vP
                        << std::endl;
        }
}

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

virtual

Implements Elem.

Definition at line 676 of file module-imu.cc.

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

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

virtual

Reimplemented from SimulationEntity.

Definition at line 664 of file module-imu.cc.

References Vec3::Cross(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), m_pNode, m_tilde_f, m_tilde_Rh, m_v, Mat3x3::MulTV(), VectorHandler::Put(), and R.

{
        Mat3x3 R(m_pNode->GetRCurr()*m_tilde_Rh);
        Vec3 f(m_pNode->GetRCurr()*m_tilde_f);

        m_v = R.MulTV(m_pNode->GetVCurr() + m_pNode->GetWCurr().Cross(f));
        X.Put(iGetFirstIndex() + 7, m_v);
}

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

virtual

Implements Elem.

Definition at line 533 of file module-imu.cc.

{
        *piNumRows = 6 + 9;
        *piNumCols = 6 + 9;
}

Member Data Documentation

TplDriveOwner<Vec3> ModuleIMUConstraint::m_AccelerationDrv

private

Definition at line 350 of file module-imu.cc.

Referenced by AssRes(), and ModuleIMUConstraint().

Vec3 ModuleIMUConstraint::m_LambdaAcceleration

private

Definition at line 353 of file module-imu.cc.

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

Vec3 ModuleIMUConstraint::m_LambdaOmega

private

Definition at line 352 of file module-imu.cc.

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

TplDriveOwner<Vec3> ModuleIMUConstraint::m_OmegaDrv

private

Definition at line 349 of file module-imu.cc.

Referenced by AssRes(), and ModuleIMUConstraint().

Vec3 ModuleIMUConstraint::m_overline_f

private

Definition at line 347 of file module-imu.cc.

Referenced by AssRes(), and ModuleIMUConstraint().

const StructNode* ModuleIMUConstraint::m_pNode

private

Definition at line 343 of file module-imu.cc.

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

Vec3 ModuleIMUConstraint::m_tilde_f

private

Definition at line 344 of file module-imu.cc.

Referenced by AssJac(), AssRes(), ModuleIMUConstraint(), and SetValue().

Mat3x3 ModuleIMUConstraint::m_tilde_Rh

private

Definition at line 345 of file module-imu.cc.

Referenced by AssJac(), AssRes(), ModuleIMUConstraint(), and SetValue().

Vec3 ModuleIMUConstraint::m_v

private

Definition at line 354 of file module-imu.cc.

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

Vec3 ModuleIMUConstraint::m_vP

private

Definition at line 355 of file module-imu.cc.

Referenced by AssRes(), and Output().

---

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

• module-imu.cc