#include <strnode.h>

Inheritance diagram for PivotRelFrameDummyStructNode:

Collaboration diagram for PivotRelFrameDummyStructNode:

Public Member Functions
	PivotRelFrameDummyStructNode (unsigned int uL, const DofOwner pDO, const StructNode pNode, const StructNode pNodeRef, const Vec3 &fh, const Mat3x3 &Rh, const StructNode pNodeRef2, const Vec3 &fh2, const Mat3x3 &Rh2, OrientationDescription ood, flag fOut)

virtual	~PivotRelFrameDummyStructNode (void)

virtual DummyStructNode::Type	GetDummyType (void) const

virtual void	Update (const VectorHandler &X, const VectorHandler &XP)

virtual bool	bComputeAccelerations (void) const

virtual bool	ComputeAccelerations (bool b)

Public Member Functions inherited from StructDispNode
	StructDispNode (unsigned int uL, const DofOwner pDO, const Vec3 &X0, const Vec3 &V0, const StructNode pRN, const RigidBodyKinematics *pRBK, doublereal dPosStiff, doublereal dVelStiff, OrientationDescription od, flag fOut)

virtual	~StructDispNode (void)

virtual Node::Type	GetNodeType (void) const

const RigidBodyKinematics *	pGetRBK (void) const

const Vec3 &	GetX (void) const

const Vec3 &	GetV (void) const

const Vec3 &	GetXPP (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual const Vec3 &	GetXPrev (void) const

virtual const Vec3 &	GetXCurr (void) const

virtual const Vec3 &	GetVPrev (void) const

virtual const Vec3 &	GetVCurr (void) const

virtual const Vec3 &	GetXPPPrev (void) const

virtual const Vec3 &	GetXPPCurr (void) const

virtual const doublereal &	dGetPositionStiffness (void) const

virtual const doublereal &	dGetVelocityStiffness (void) const

virtual bool	bOutputAccelerations (void) const

virtual void	OutputAccelerations (bool bOut)

Public Member Functions inherited from Node
	Node (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~Node (void)

const Node *	GetNode (void) const

virtual integer	iGetFirstRowIndex (void) const

virtual integer	iGetFirstColIndex (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	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

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

virtual void	ReadInitialState (MBDynParser &HP)

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 ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

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 RigidBodyKinematics
virtual	~RigidBodyKinematics (void)

virtual void	Update (void)

Public Member Functions inherited from RelFrameDummyStructNode
	RelFrameDummyStructNode (unsigned int uL, const DofOwner pDO, const StructNode pNode, const StructNode *pNodeRef, const Vec3 &fh, const Mat3x3 &Rh, OrientationDescription ood, flag fOut)

virtual	~RelFrameDummyStructNode (void)

Public Member Functions inherited from DummyStructNode
	DummyStructNode (unsigned int uL, const DofOwner pDO, const StructNode pNode, OrientationDescription ood, flag fOut)

virtual	~DummyStructNode (void)

virtual StructDispNode::Type	GetStructDispNodeType (void) const

virtual unsigned int	iGetNumDof (void) const

virtual const doublereal &	dGetDofValue (int iDof, int iOrder=0) const

virtual const doublereal &	dGetDofValuePrev (int iDof, int iOrder=0) const

virtual void	SetDofValue (const doublereal &dValue, unsigned int iDof, unsigned int iOrder=0)

virtual StructNode::Type	GetStructNodeType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual integer	iGetFirstPositionIndex (void) const

virtual integer	iGetFirstMomentumIndex (void) const

virtual void	DerivativesUpdate (const VectorHandler &X, const VectorHandler &XP)

virtual void	InitialUpdate (const VectorHandler &X)

virtual void	SetInitialValue (VectorHandler &X)

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

virtual void	BeforePredict (VectorHandler &X, VectorHandler &XP, VectorHandler &XPrev, VectorHandler &XPPrev) const

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

Public Member Functions inherited from StructNode
	StructNode (unsigned int uL, const DofOwner pDO, const Vec3 &X0, const Mat3x3 &R0, const Vec3 &V0, const Vec3 &W0, const StructNode pRN, const RigidBodyKinematics *pRBK, doublereal dPosStiff, doublereal dVelStiff, bool bOmRot, OrientationDescription ood, flag fOut)

virtual	~StructNode (void)

const Mat3x3 &	GetR (void) const

const Vec3 &	GetW (void) const

const Vec3 &	GetWP (void) const

virtual std::ostream &	Restart (std::ostream &out) 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 const Vec3 &	GetgRef (void) const

virtual const Vec3 &	GetgCurr (void) const

virtual const Vec3 &	GetgPRef (void) const

virtual const Vec3 &	GetgPCurr (void) const

virtual const Mat3x3 &	GetRPrev (void) const

virtual const Mat3x3 &	GetRRef (void) const

virtual const Mat3x3 &	GetRCurr (void) const

virtual const Vec3 &	GetWPrev (void) const

virtual const Vec3 &	GetWRef (void) const

virtual const Vec3 &	GetWCurr (void) const

virtual const Vec3 &	GetWPCurr (void) const

virtual const Vec3 &	GetWPPrev (void) const

virtual bool	bOmegaRotates (void) const

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

void	Update (const VectorHandler &X, InverseDynamics::Order iOrder)

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

Protected Member Functions
void	Update_int (void)

Protected Attributes
const StructNode *	pNodeRef2

const Mat3x3	Rh2

const Vec3	fh2

Protected Attributes inherited from StructDispNode
Vec3	XPrev

Vec3	XCurr

Vec3	VPrev

Vec3	VCurr

Vec3	XPPCurr

Vec3	XPPPrev

const StructNode *	pRefNode

OrientationDescription	od

doublereal	dPositionStiffness

doublereal	dVelocityStiffness

const RigidBodyKinematics *	pRefRBK

bool	bOutputAccels

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from RelFrameDummyStructNode
const StructNode *	pNodeRef

const Mat3x3	RhT

const Vec3	fhT

Protected Attributes inherited from DummyStructNode
const StructNode *	pNode

Protected Attributes inherited from StructNode
Mat3x3	RPrev

Mat3x3	RRef

Mat3x3	RCurr

Vec3	gRef

Vec3	gCurr

Vec3	gPRef

Vec3	gPCurr

Vec3	WPrev

Vec3	WRef

Vec3	WCurr

Vec3	WPCurr

Vec3	WPPrev

bool	bOmegaRot

Additional Inherited Members
Public Types inherited from StructDispNode
enum	Type { UNKNOWN = -1, DYNAMIC = 0, STATIC, LASTSTRUCTDISPNODETYPE }

enum	Output { OUTPUT_ACCELERATIONS = (ToBeOutput::OUTPUT_PRIVATE << 0), OUTPUT_INERTIA = (ToBeOutput::OUTPUT_PRIVATE << 1) }

Public Types inherited from Node
enum	Type { UNKNOWN = -1, ABSTRACT = 0, STRUCTURAL, ELECTRIC, THERMAL, PARAMETER, HYDRAULIC, LASTNODETYPE }

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 DummyStructNode
enum	Type { UNKNOWN = -1, OFFSET = 0, RELATIVEFRAME, PIVOTRELATIVEFRAME, LASTTYPE }

Public Types inherited from StructNode
enum	Type { UNKNOWN = -1, DYNAMIC = 0, STATIC, MODAL, DUMMY, LASTSTRUCTNODETYPE }

Detailed Description

Definition at line 1864 of file strnode.h.

Constructor & Destructor Documentation

PivotRelFrameDummyStructNode::PivotRelFrameDummyStructNode	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pNode,
		const StructNode *	pNodeRef,
		const Vec3 &	fh,
		const Mat3x3 &	Rh,
		const StructNode *	pNodeRef2,
		const Vec3 &	fh2,
		const Mat3x3 &	Rh2,
		OrientationDescription	ood,
		flag	fOut
	)

Definition at line 3846 of file strnode.cc.

References ASSERT, StructDispNode::bOutputAccelerations(), StructDispNode::bOutputAccels, DummyStructNode::pNode, RelFrameDummyStructNode::pNodeRef, pNodeRef2, and Update_int().

 :
 StructDispNode(uL, pDO, ::Zero3, ::Zero3, 0, 0, 0., 0., ood, fOut),
 RelFrameDummyStructNode(uL, pDO, pN, pNR, fh, Rh, ood, fOut),
 pNodeRef2(pNR2), Rh2(Rh2), fh2(fh2)
 {
         ASSERT(pNodeRef2 != NULL);
 
         /*
          * Note: Rh is transposed from the beginning because it is
          *       never used directly;
          *       fh is premultiplied by Rh.Transpose() for the same reason
          *
          * Formulas:
          *
          * R = RhT * RrT * Rn
          * X = RhT * RrT * (Xn - Xr)
          * W = RhT * RrT * (Wn - Wr)
          * V = RhT * RrT * (Vn - Vr - Wr x (Xn - Xr))
          *
          * by defining
          *
          * Rn = Rr * Rh * R
          * Xn = Xr + Rr * (fh + Rh * X)
          *
          * and differentiating with respect to time
          */
 
         if (pNode->bOutputAccelerations()
                 && pNodeRef->bOutputAccelerations()
                 && pNodeRef2->bOutputAccelerations())
         {
                 bOutputAccels = true;
 
         } else {
                 bOutputAccels = false;
         }
 
         /* forzo la ricostruzione del nodo strutturale sottostante */
         Update_int();
 }

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PivotRelFrameDummyStructNode::~PivotRelFrameDummyStructNode ( void )

virtual

Definition at line 3900 of file strnode.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

bool PivotRelFrameDummyStructNode::bComputeAccelerations ( void ) const

inlinevirtual

Reimplemented from StructDispNode.

Definition at line 1901 of file strnode.h.

Referenced by Update_int().

 {
         return pNode->bComputeAccelerations()
                 && pNodeRef->bComputeAccelerations()
                 && pNodeRef2->bComputeAccelerations();
 }

bool PivotRelFrameDummyStructNode::ComputeAccelerations ( bool b )

virtual

Reimplemented from StructDispNode.

Definition at line 3953 of file strnode.cc.

References DummyStructNode::pNode, RelFrameDummyStructNode::pNodeRef, and pNodeRef2.

 {
         bool ok = true;
 
         if (!const_cast<StructNode *>(pNode)->ComputeAccelerations(b)) {
                 ok = false;
         }
 
         if (!const_cast<StructNode *>(pNodeRef)->ComputeAccelerations(b)) {
                 ok = false;
         }
 
         if (!const_cast<StructNode *>(pNodeRef2)->ComputeAccelerations(b)) {
                 ok = false;
         }
 
         return ok;
 }

DummyStructNode::Type PivotRelFrameDummyStructNode::GetDummyType ( void ) const

virtual

Reimplemented from RelFrameDummyStructNode.

Definition at line 3938 of file strnode.cc.

References DummyStructNode::PIVOTRELATIVEFRAME.

 {
         return DummyStructNode::PIVOTRELATIVEFRAME;
 }

void PivotRelFrameDummyStructNode::Update	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from StructDispNode.

Definition at line 3946 of file strnode.cc.

References Update_int().

 {
         Update_int();
 }

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void PivotRelFrameDummyStructNode::Update_int ( void )

protectedvirtual

Reimplemented from RelFrameDummyStructNode.

Definition at line 3908 of file strnode.cc.

References bComputeAccelerations(), Vec3::Cross(), fh2, StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructNode::GetWPCurr(), StructDispNode::GetXCurr(), StructDispNode::GetXPPCurr(), pNodeRef2, StructNode::RCurr, Rh2, RelFrameDummyStructNode::Update_int(), StructDispNode::VCurr, StructNode::WCurr, StructNode::WPCurr, StructDispNode::XCurr, and StructDispNode::XPPCurr.

Referenced by PivotRelFrameDummyStructNode(), and Update().

 {
         RelFrameDummyStructNode::Update_int();
 
         Mat3x3 R2(pNodeRef2->GetRCurr()*Rh2);
 
         XCurr = pNodeRef2->GetRCurr()*(Rh2*XCurr + fh2);
 
         if (bComputeAccelerations()) {
                 WPCurr = pNodeRef2->GetWPCurr()
                         + pNodeRef2->GetWCurr().Cross(R2*WCurr)
                         + R2*WPCurr;
                 XPPCurr = pNodeRef2->GetXPPCurr()
                         + pNodeRef2->GetWPCurr().Cross(XCurr)
                         + pNodeRef2->GetWCurr().Cross(pNodeRef2->GetWCurr().Cross(XCurr))
                         + (pNodeRef2->GetWCurr()*2.).Cross(R2*VCurr)
                         + R2*XPPCurr;
         }
 
         WCurr = pNodeRef2->GetWCurr() + R2*WCurr;
         VCurr = pNodeRef2->GetVCurr()
                 + pNodeRef2->GetWCurr().Cross(XCurr)
                 + R2*VCurr;
         RCurr = R2*RCurr;
         XCurr += pNodeRef2->GetXCurr();
 }

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Member Data Documentation

const Vec3 PivotRelFrameDummyStructNode::fh2

protected

Definition at line 1868 of file strnode.h.

Referenced by Update_int().

const StructNode* PivotRelFrameDummyStructNode::pNodeRef2

protected

Definition at line 1866 of file strnode.h.

Referenced by ComputeAccelerations(), PivotRelFrameDummyStructNode(), and Update_int().

const Mat3x3 PivotRelFrameDummyStructNode::Rh2

protected

Definition at line 1867 of file strnode.h.

Referenced by Update_int().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation