PlanePinJoint Class Reference

#include <planej.h>

Inheritance diagram for PlanePinJoint:

Collaboration diagram for PlanePinJoint:

Public Member Functions
	PlanePinJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN, const Vec3 &X0Tmp, const Mat3x3 &R0Tmp, const Vec3 &dTmp, const Mat3x3 &RhTmp, flag fOut, const bool _calcInitdTheta, const doublereal initDTheta)
	~PlanePinJoint (void)
virtual Joint::Type	GetJointType (void) const
virtual void	ReadInitialState (MBDynParser &HP)
virtual std::ostream &	Restart (std::ostream &out) const
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 i) const
DofOrder::Order	GetEqType (unsigned int i) const
virtual void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
virtual Hint *	ParseHint (DataManager *pDM, const char *s) const
virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
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)
virtual void	Output (OutputHandler &OH) 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)
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 Elem
	Elem (unsigned int uL, flag fOut)
virtual	~Elem (void)
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 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	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)
virtual std::ostream &	OutputAppend (std::ostream &out) const
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 Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)
virtual	~Joint (void)
virtual Elem::Type	GetElemType (void) const
std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const
virtual void	SetInitialValue (VectorHandler &)
virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)
bool	bIsPrescribedMotion (void) const
bool	bIsTorque (void) 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
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
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 Attributes
const StructNode *	pNode
Vec3	X0
Mat3x3	R0
Vec3	d
Mat3x3	Rh
Vec3	F
Vec3	M
bool	calcInitdTheta
int	NTheta
doublereal	dTheta
doublereal	dThetaWrapped

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 Joint
enum	Type {   UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP,   SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION,   UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN,   AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE,   INPLANECONTACT, J_INLINE, ROD, RODBEZIER,   DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT,   VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION,   ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP,   DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN,   IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL,   POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION,   TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }
Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)
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 GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 521 of file planej.h.

Constructor & Destructor Documentation

PlanePinJoint::PlanePinJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN,
		const Vec3 &	X0Tmp,
		const Mat3x3 &	R0Tmp,
		const Vec3 &	dTmp,
		const Mat3x3 &	RhTmp,
		flag	fOut,
		const bool	_calcInitdTheta,
		const doublereal	initDTheta
	)

Definition at line 3977 of file planej.cc.

References NO_OP.

: Elem(uL, fOut), 
Joint(uL, pDO, fOut), 
pNode(pN), 
X0(X0Tmp), R0(R0Tmp), d(dTmp), Rh(RhTmp),
F(Zero3), M(Zero3),
calcInitdTheta(_calcInitdTheta),
NTheta(0), dTheta(initDTheta), dThetaWrapped(0.)
{
   NO_OP;
}

PlanePinJoint::~PlanePinJoint

(

void

)

Definition at line 3996 of file planej.cc.

References NO_OP.

{
   NO_OP;
};

Member Function Documentation

void PlanePinJoint::AfterConvergence ( const VectorHandler &  X, const VectorHandler &  XP  )

virtual

Reimplemented from SimulationEntity.

Definition at line 4305 of file planej.cc.

References dTheta, dThetaWrapped, StructNode::GetRCurr(), M_PI, Mat3x3::MulTM(), NTheta, pNode, R0, Rh, and RotManip::VecRot().

{
        Vec3 v(RotManip::VecRot(R0.MulTM(pNode->GetRCurr()*Rh)));
        doublereal dThetaTmp(v(3));

        // unwrap
        if (dThetaTmp - dThetaWrapped < -M_PI) {
                NTheta++;
        }

        if (dThetaTmp - dThetaWrapped > M_PI) {
                NTheta--;
        }

        // save new wrapped angle
        dThetaWrapped = dThetaTmp;

        // compute new unwrapped angle
        dTheta = 2*M_PI*NTheta + dThetaWrapped;

}

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 4358 of file planej.cc.

References grad::Cross(), d, DEBUGCOUT, Vec3::dGet(), F, StructNode::GetRRef(), Mat3x3::GetVec(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), M, MatCrossCross, pNode, SparseSubMatrixHandler::PutCross(), SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::PutMat3x3(), R, R0, SparseSubMatrixHandler::ResizeReset(), Rh, and VariableSubMatrixHandler::SetSparse().

{
   DEBUGCOUT("Entering PlanePinJoint::AssJac()" << std::endl);
      
   SparseSubMatrixHandler& WM = WorkMat.SetSparse();
   WM.ResizeReset(39, 0);
   
   integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
   integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
   integer iFirstReactionIndex = iGetFirstIndex();

   const Mat3x3& R(pNode->GetRRef());
   Vec3 dTmp(R*d);
   Mat3x3 RhTmp(R*Rh);
   
   
   /* 
    * L'equazione di vincolo afferma che il punto in cui si trova la
    * cerniera deve essere fissato:
    *      x + d = x0
    *      e3_0^Te1 = 0
    *      e3_0^Te2 = 0
    * 
    * con: d = R * d_0
    * 
    * La forza e' data dalla reazione vincolare F, nel sistema globale
    * La coppia dovuta all'eccentricita' e' data rispettivamente da:
    *     d /\ F
    *
    * 
    *       x      g         F
    * Q1 |  0      0             I   0    | | x |   | -F          |
    * G1 |  0      cF/\d1/\-M/\  d/\ e1e2 | | g |   | -d/\F-M     |
    * F  |  I      d/\           0   0    | | F |   |  (x+d-x0)/c |
    * M  |  0      e_0/\e1,e2    0   0    | | M |   |  e_0^Te1,e2 |
    * 
    * con d = R*d_0, c = dCoef
    */


   
   /* Moltiplica la forza ed il momento per il coefficiente
    * del metodo */

   Vec3 e3(R0.GetVec(3));
   Vec3 e1(RhTmp.GetVec(1));
   Vec3 e2(RhTmp.GetVec(2));
   Vec3 MTmp(e2*M.dGet(1)-e1*M.dGet(2));
            
   Vec3 Tmp1((e2).Cross(e3));
   Vec3 Tmp2((e3).Cross(e1));
   
   /* termini di reazione sul nodo (forza e momento) */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      WM.PutItem(iCnt, iFirstMomentumIndex+iCnt, 
                  iFirstReactionIndex+iCnt, 1.);
      WM.PutItem(3+iCnt, 3+iFirstMomentumIndex+iCnt,
                  iFirstReactionIndex+4, Tmp1.dGet(iCnt));
      WM.PutItem(6+iCnt, 3+iFirstMomentumIndex+iCnt, 
                  iFirstReactionIndex+5, Tmp2.dGet(iCnt));
   }   
   
   WM.PutCross(10, iFirstMomentumIndex+3,
                iFirstReactionIndex, dTmp);
      
   
   /* Nota: F ed M, le reazioni vincolari, sono state aggiornate da AssRes */
   
   /* Termini diagonali del tipo: c*F/\d/\Delta_g 
    * nota: la forza e' gia' moltiplicata per dCoef */      
   WM.PutMat3x3(16, iFirstMomentumIndex+3, iFirstPositionIndex+3, 
                 Mat3x3(MatCrossCross, F*dCoef, dTmp) + Mat3x3(MatCrossCross, e3, MTmp*dCoef));

   /* Modifica: divido le equazioni di vincolo per dCoef */
   
   /* termini di vincolo dovuti al nodo 1 */
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      WM.PutItem(24+iCnt, iFirstReactionIndex+iCnt, 
                  iFirstPositionIndex+iCnt, -1.);
   }
   
   WM.PutCross(28, iFirstReactionIndex,
                iFirstPositionIndex+3, dTmp);
   
   for (int iCnt = 1; iCnt <= 3; iCnt ++) {
      WM.PutItem(33+iCnt, iFirstReactionIndex+4, 
                  iFirstPositionIndex+3+iCnt, -Tmp1.dGet(iCnt));        
      WM.PutItem(36+iCnt, iFirstReactionIndex+5, 
                  iFirstPositionIndex+3+iCnt, Tmp2.dGet(iCnt)); 
   }
   
   return WorkMat;
}

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 4457 of file planej.cc.

References VectorHandler::Add(), ASSERT, Vec3::Cross(), grad::Cross(), d, DEBUGCOUT, Vec3::dGet(), F, StructNode::GetRCurr(), Mat3x3::GetVec(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), M, pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R, R0, VectorHandler::ResizeReset(), Rh, VectorHandler::Sub(), WorkSpaceDim(), and X0.

{
   DEBUGCOUT("Entering PlanePinJoint::AssRes()" << std::endl);
      
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   WorkSpaceDim(&iNumRows, &iNumCols);
   WorkVec.ResizeReset(iNumRows);
 
   integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
   integer iFirstReactionIndex = iGetFirstIndex();
   
   /* Indici dei nodi */
   for (int iCnt = 1; iCnt <= 6; iCnt++) {
      WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex+iCnt);
   }
     
   
   /* Indici del vincolo */
   for (int iCnt = 1; iCnt <= 5; iCnt++) {
      WorkVec.PutRowIndex(6+iCnt, iFirstReactionIndex+iCnt);   
   }
   
   F = Vec3(XCurr, iFirstReactionIndex+1);
   M = Vec3(XCurr(iFirstReactionIndex+4),
            XCurr(iFirstReactionIndex+5),
            0.);
   
   const Vec3& x(pNode->GetXCurr());
   const Mat3x3& R(pNode->GetRCurr());
   
   Vec3 dTmp(R*d);
   Mat3x3 RhTmp(R*Rh);
   
   Vec3 e3(R0.GetVec(3));
   Vec3 e1(RhTmp.GetVec(1));
   Vec3 e2(RhTmp.GetVec(2));
   
   WorkVec.Sub(1, F);
   WorkVec.Add(4, F.Cross(dTmp)-(e2*M.dGet(1)-e1*M.dGet(2)).Cross(e3)); /* Sfrutto il fatto che F/\d = -d/\F */
   
   /* Modifica: divido le equazioni di vincolo per dCoef */
   ASSERT(dCoef != 0.);
   WorkVec.Add(7, (x+dTmp-X0)/dCoef);

   WorkVec.PutCoef(10, e3.Dot(e2)/dCoef);
   WorkVec.PutCoef(11, e3.Dot(e1)/dCoef);

   return WorkVec;
}

Here is the call graph for this function:

std::ostream & PlanePinJoint::DescribeDof ( std::ostream &  out, const char *  prefix = "", bool  bInitial = false  ) const

virtual

Reimplemented from Elem.

Definition at line 4003 of file planej.cc.

References DofOwnerOwner::iGetFirstIndex().

{
        integer iIndex = iGetFirstIndex();

        out
                << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                        "reaction forces [Fx,Fy,Fz]" << std::endl
                << prefix << iIndex + 4 << "->" << iIndex + 5 << ": "
                        "reaction couples [mx,my]" << std::endl;

        if (bInitial) {
                iIndex += 5;
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "reaction force derivatives [FPx,FPy,FPz]" << std::endl
                        << prefix << iIndex + 4 << "->" << iIndex + 5 << ": "
                                "reaction couple derivatives [mPx,mPy]" << std::endl;
        }

        return out;
}

Here is the call graph for this function:

void PlanePinJoint::DescribeDof ( std::vector< std::string > &  desc, bool  bInitial = false, int  i = -1  ) const

virtual

Reimplemented from Elem.

Definition at line 4026 of file planej.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, and xyz.

{
        std::ostringstream os;
        os << "PlanePinJoint(" << GetLabel() << ")";

        unsigned short nself = 5;
        if (bInitial) {
                nself *= 2;
        }

        if (i == -1) {
                desc.resize(nself);
                std::string name = os.str();

                for (unsigned i = 0; i < 3; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": reaction force f" << xyz[i];
                        desc[i] = os.str();
                }

                for (unsigned i = 0; i < 2; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": reaction couple m" << xyz[i];
                        desc[3 + i] = os.str();
                }

                if (bInitial) {
                        for (unsigned i = 0; i < 3; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": reaction force derivative fP" << xyz[i];
                                desc[5 + i] = os.str();
                        }
        
                        for (unsigned i = 0; i < 2; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": reaction couple derivative mP" << xyz[i];
                                desc[8 + i] = os.str();
                        }
                }

        } else {
                if (i < -1) {
                        // error
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                if (i >= nself) {
                        // error
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                desc.resize(1);

                switch (i) {
                case 0:
                case 1:
                case 2:
                        os << ": reaction force f" << xyz[i];
                        break;

                case 3:
                case 4:
                        os << ": reaction couple m" << xyz[i - 3];
                        break;

                case 5:
                case 6:
                case 7:
                        os << ": reaction force derivative fP" << xyz[i - 5];
                        break;

                case 8:
                case 9:
                        os << ": reaction couple derivative mP" << xyz[i - 8];
                        break;
                }
                desc[0] = os.str();
        }
}

Here is the call graph for this function:

std::ostream & PlanePinJoint::DescribeEq ( std::ostream &  out, const char *  prefix = "", bool  bInitial = false  ) const

virtual

Reimplemented from Elem.

Definition at line 4111 of file planej.cc.

References DofOwnerOwner::iGetFirstIndex().

{
        integer iIndex = iGetFirstIndex();

        out
                << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                        "position constraints [Px=Px0,Py=Py0,Pz=Pz0]" << std::endl
                << prefix << iIndex + 4 << "->" << iIndex + 5 << ": "
                        "orientation constraints [gx=gx0,gy=gy0]" << std::endl;

        if (bInitial) {
                iIndex += 5;
                out
                        << prefix << iIndex + 1 << "->" << iIndex + 3 << ": "
                                "velocity constraints [vx=0,vy=0,vz=0]" << std::endl
                        << prefix << iIndex + 4 << "->" << iIndex + 5 << ": "
                                "angular velocity constraints [wx=0,wy=0]" << std::endl;
        }

        return out;
}

Here is the call graph for this function:

void PlanePinJoint::DescribeEq ( std::vector< std::string > &  desc, bool  bInitial = false, int  i = -1  ) const

virtual

Reimplemented from Elem.

Definition at line 4134 of file planej.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, and xyz.

{
        std::ostringstream os;
        os << "PlanePinJoint(" << GetLabel() << ")";

        unsigned short nself = 5;
        if (bInitial) {
                nself *= 2;
        }

        if (i == -1) {
                desc.resize(nself);
                std::string name = os.str();

                for (unsigned i = 0; i < 3; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": position constraint P" << xyz[i];
                        desc[i] = os.str();
                }

                for (unsigned i = 0; i < 2; i++) {
                        os.str(name);
                        os.seekp(0, std::ios_base::end);
                        os << ": orientation constraint g" << xyz[i];
                        desc[3 + i] = os.str();
                }

                if (bInitial) {
                        for (unsigned i = 0; i < 3; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": position constraint derivative v" << xyz[i];
                                desc[5 + i] = os.str();
                        }
        
                        for (unsigned i = 0; i < 2; i++) {
                                os.str(name);
                                os.seekp(0, std::ios_base::end);
                                os << ": orientation constraint derivative w" << xyz[i];
                                desc[8 + i] = os.str();
                        }
                }

        } else {
                if (i < -1) {
                        // error
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                if (i >= nself) {
                        // error
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                desc.resize(1);

                switch (i) {
                case 0:
                case 1:
                case 2:
                        os << ": position constraint P" << xyz[i];
                        break;

                case 3:
                case 4:
                        os << ": orientation constraint g" << xyz[i - 3];
                        break;

                case 5:
                case 6:
                case 7:
                        os << ": position constraint derivative v" << xyz[i - 5];
                        break;

                case 8:
                case 9:
                        os << ": orientation constraint derivative w" << xyz[i - 8];
                        break;
                }
                desc[0] = os.str();
        }
}

Here is the call graph for this function:

doublereal PlanePinJoint::dGetPrivData ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 4829 of file planej.cc.

References ASSERT, dThetaWrapped, F, WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), iGetNumPrivData(), M, M_PI, MBDYN_EXCEPT_ARGS, Mat3x3::MulTM(), NTheta, pNode, R0, Rh, and RotManip::VecRot().

{
   ASSERT(i >= 1 && i <= iGetNumPrivData());
   
   switch (i) {
    case 1: {
        Vec3 v(RotManip::VecRot(R0.MulTM(pNode->GetRCurr()*Rh)));
        doublereal dThetaTmp(v(3));

        int n = 0;

        if (dThetaTmp - dThetaWrapped < -M_PI) {
                n++;
        }

        if (dThetaTmp - dThetaWrapped > M_PI) {
                n--;
        }

        return 2*M_PI*(NTheta + n) + dThetaTmp;
    }
      
    case 2: {
       Mat3x3 RTmp(pNode->GetRCurr()*Rh);
       Vec3 v(RTmp.MulTV(pNode->GetWCurr()));
       
       return v(3);
    }

    case 3:
    case 4:
    case 5:
            return F(i - 2);

    case 6:
    case 7:
    case 8:
            return M(i - 5);
   }
      
   silent_cerr("PlanePinJoint(" << GetLabel() << "): "
           "illegal private data " << i << std::endl);
   throw ErrGeneric(MBDYN_EXCEPT_ARGS);
}

Here is the call graph for this function:

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

inlinevirtual

Reimplemented from Elem.

Definition at line 635 of file planej.h.

References pNode.

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

virtual DofOrder::Order PlanePinJoint::GetDofType ( unsigned int  i ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 574 of file planej.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                                          {
      ASSERT(i >= 0 && i < 5);
      return DofOrder::ALGEBRAIC;
   };

DofOrder::Order PlanePinJoint::GetEqType ( unsigned int  i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 4297 of file planej.cc.

References DofOrder::ALGEBRAIC, ASSERTMSGBREAK, and iGetNumDof().

{
        ASSERTMSGBREAK(i < iGetNumDof(), 
                "INDEX ERROR in PlanePinJoint::GetEqType");
   return DofOrder::ALGEBRAIC; 
}

Here is the call graph for this function:

virtual Joint::Type PlanePinJoint::GetJointType ( void  ) const

inlinevirtual

Implements Joint.

Definition at line 546 of file planej.h.

References Joint::PIN.

                                              { 
      return Joint::PIN; 
   };

virtual unsigned int PlanePinJoint::iGetInitialNumDof ( void  ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 610 of file planej.h.

                                                      { 
      return 10;
   };

virtual unsigned int PlanePinJoint::iGetNumDof ( void  ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 556 of file planej.h.

Referenced by GetEqType().

                                               { 
      return 5;
   };

unsigned int PlanePinJoint::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 4786 of file planej.cc.

Referenced by dGetPrivData().

{
        return 2;
}

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

virtual

Reimplemented from SimulationEntity.

Definition at line 4792 of file planej.cc.

References ASSERT.

{
        ASSERT(s != NULL);

        unsigned int idx = 0;

        switch (s[0]) {
        case 'w':
                idx++;
        case 'r':
                idx++;
                if (s[1] == 'z') {
                        return idx;
                }
                break;

        case 'M':
                idx += 3;
        case 'F':
                idx += 2;

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

                case 'y':
                        return idx + 2;

                case 'z':
                        return idx + 3;
                }
        }

        return 0;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 4529 of file planej.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), d, Vec3::dGet(), F, WithLabel::GetLabel(), StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, MatCross, MatCrossCross, MBDYN_EXCEPT_ARGS, pNode, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, R0, FullSubMatrixHandler::ResizeReset(), Rh, and VariableSubMatrixHandler::SetFull().

{
   FullSubMatrixHandler& WM = WorkMat.SetFull();
   
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   InitialWorkSpaceDim(&iNumRows, &iNumCols);
   WM.ResizeReset(iNumRows, iNumCols);

   /* Equazioni: vedi joints.dvi */
    
   /* Indici */
   integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
   integer iFirstVelocityIndex = iFirstPositionIndex+6;
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+5;

   /* Setto gli indici */
   for (int iCnt = 1; iCnt <= 6; iCnt++) {
      WM.PutRowIndex(iCnt, iFirstPositionIndex+iCnt);
      WM.PutColIndex(iCnt, iFirstPositionIndex+iCnt);
      WM.PutRowIndex(6+iCnt, iFirstVelocityIndex+iCnt);
      WM.PutColIndex(6+iCnt, iFirstVelocityIndex+iCnt);
   }
   
   for (int iCnt = 1; iCnt <= 10; iCnt++) {
      WM.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
      WM.PutColIndex(12+iCnt, iFirstReactionIndex+iCnt);
   }   
   
   /* Matrici identita' */
   
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      /* Contributo di forza all'equazione della forza */
      WM.PutCoef(iCnt, 12+iCnt, 1.);
      
      /* Contrib. di der. di forza all'eq. della der. della forza */
      WM.PutCoef(6+iCnt, 17+iCnt, 1.);
      
      /* Equazione di vincolo */
      WM.PutCoef(12+iCnt, iCnt, -1.);
      
      /* Derivata dell'equazione di vincolo */
      WM.PutCoef(17+iCnt, 6+iCnt, -1.);
   }
   
   /* Recupera i dati */
   const Mat3x3& R(pNode->GetRRef());
   const Vec3& Omega(pNode->GetWRef());
   /* F, M sono state aggiornate da InitialAssRes */
   Vec3 FPrime(XCurr, iReactionPrimeIndex+1);
   Vec3 MPrime(XCurr(iReactionPrimeIndex+4),
               XCurr(iReactionPrimeIndex+5),
               0.);
   
   /* Distanza nel sistema globale */
   Vec3 dTmp(R*d);
   Mat3x3 RhTmp(R*Rh);

   Vec3 e3(R0.GetVec(3));
   Vec3 e1(RhTmp.GetVec(1));
   Vec3 e2(RhTmp.GetVec(2));

   /* Vettori temporanei */
   Vec3 Tmp1(e2.Cross(e3));   
   Vec3 Tmp2(e3.Cross(e1));
   
   /* Prodotto vettore tra il versore 3 della cerniera secondo il nodo 1
    * ed il versore 1 della cerniera secondo il nodo 2. A convergenza
    * devono essere ortogonali, quindi il loro prodotto vettore deve essere 
    * unitario */

   /* Error handling: il programma si ferma, pero' segnala dov'e' l'errore */
   if (Tmp1.Dot() <= std::numeric_limits<doublereal>::epsilon() || Tmp2.Dot() <= std::numeric_limits<doublereal>::epsilon()) {
      silent_cerr("PlanePinJoint(" << GetLabel() << "): "
              "node and fixed point hinge axes are (nearly) orthogonal" 
              << std::endl);
      throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
   }   
   
   Vec3 TmpPrime1(e3.Cross(e2.Cross(Omega)));
   Vec3 TmpPrime2(e3.Cross(Omega.Cross(e1)));   
   
   /* Ruota il momento e la sua derivata con le matrici della cerniera 
    * rispetto ai nodi */
   Vec3 MTmp(e2*M.dGet(1)-e1*M.dGet(2));
   Vec3 MPrimeTmp(e2*MPrime.dGet(1)-e1*MPrime.dGet(2));
         
   Mat3x3 MDeltag(Mat3x3(MatCrossCross, e3, MPrimeTmp) + e3.Cross(Mat3x3(MatCrossCross, Omega, MTmp)));
   
   /* Matrici F/\d/\ */
   Mat3x3 FWedgedWedge(MatCrossCross, F, dTmp);
   
   /* Matrici (omega/\d)/\ */
   Mat3x3 OWedgedWedge(MatCross, Omega.Cross(dTmp));
   
   /* Equazione di momento */
   WM.Add(4, 4, FWedgedWedge + Mat3x3(MatCrossCross, e3, MTmp));
   WM.Add(4, 13, Mat3x3(MatCross, dTmp));
   
   /* Derivata dell'equazione di momento */
   WM.Add(10, 4, (Mat3x3(MatCross, FPrime) + Mat3x3(MatCrossCross, F, Omega))*Mat3x3(MatCross, dTmp) + MDeltag);
   WM.Add(10, 10, FWedgedWedge + Mat3x3(MatCrossCross, e3, MTmp));
   WM.Add(10, 13, OWedgedWedge);
   WM.Add(10, 18, Mat3x3(MatCross, dTmp));
 
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      doublereal d = Tmp1(iCnt);
      WM.PutCoef(3+iCnt, 16, d);
      WM.PutCoef(9+iCnt, 21, d);
      
      d = Tmp2(iCnt);
      WM.PutCoef(3+iCnt, 17, d);
      WM.PutCoef(9+iCnt, 22, d);
 
      WM.PutCoef(9+iCnt, 16, TmpPrime1(iCnt));
      WM.PutCoef(9+iCnt, 17, TmpPrime2(iCnt));
   }
 
   /* Equazione di vincolo */
   WM.Add(13, 4, Mat3x3(MatCross, dTmp));
 
   /* Derivata dell'equazione di vincolo */
   WM.Add(18, 4, OWedgedWedge);
   WM.Add(18, 10, Mat3x3(MatCross, dTmp));

   /* Equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */            
   for (int iCnt = 1; iCnt <= 3; iCnt++) {      
      doublereal d = -Tmp1(iCnt);
      WM.PutCoef(16, 3+iCnt, d);
      
      /* Queste sono per la derivata dell'equazione, sono qui solo per 
       * ottimizzazione */
      WM.PutCoef(21, 9+iCnt, d);
      
      d = Tmp2(iCnt);
      WM.PutCoef(17, 3+iCnt, d);
      
      /* Queste sono per la derivata dell'equazione, sono qui solo per 
       * ottimizzazione */
      WM.PutCoef(22, 9+iCnt, d);
   }   
   
   /* Derivate delle equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */
   TmpPrime2 = e2.Cross(Omega.Cross(e3));
   for (int iCnt = 1; iCnt <= 3; iCnt++) {      
      WM.PutCoef(21, 3+iCnt, TmpPrime2(iCnt));
   }
   
   TmpPrime2 = e1.Cross(Omega.Cross(e3));
   for (int iCnt = 1; iCnt <= 3; iCnt++) {
      WM.PutCoef(22, 3+iCnt, TmpPrime2(iCnt));
   }
 
   return WorkMat;
}

Here is the call graph for this function:

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 4691 of file planej.cc.

References VectorHandler::Add(), Vec3::Cross(), d, DEBUGCOUT, Vec3::dGet(), F, StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R, R0, VectorHandler::ResizeReset(), Rh, VectorHandler::Sub(), and X0.

{   
   DEBUGCOUT("Entering PlanePinJoint::InitialAssRes()" << std::endl);
   
   /* Dimensiona e resetta la matrice di lavoro */
   integer iNumRows = 0;
   integer iNumCols = 0;
   InitialWorkSpaceDim(&iNumRows, &iNumCols);
   WorkVec.ResizeReset(iNumRows);

   /* Indici */
   integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
   integer iFirstVelocityIndex = iFirstPositionIndex+6;
   integer iFirstReactionIndex = iGetFirstIndex();
   integer iReactionPrimeIndex = iFirstReactionIndex+5;
   
   /* Setta gli indici */
   for (int iCnt = 1; iCnt <= 6; iCnt++) {      
      WorkVec.PutRowIndex(iCnt, iFirstPositionIndex+iCnt);
      WorkVec.PutRowIndex(6+iCnt, iFirstVelocityIndex+iCnt);
   }
   
   for (int iCnt = 1; iCnt <= 10; iCnt++) {     
      WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
   }
   
   /* Recupera i dati */
   const Vec3& x(pNode->GetXCurr());
   const Vec3& v(pNode->GetVCurr());
   const Mat3x3& R(pNode->GetRCurr());
   const Vec3& Omega(pNode->GetWCurr());
   
   Mat3x3 RhTmp(R*Rh);
   
   F = Vec3(XCurr, iFirstReactionIndex+1);
   M = Vec3(XCurr(iFirstReactionIndex+4),
            XCurr(iFirstReactionIndex+5),
            0.);
   Vec3 FPrime(XCurr, iReactionPrimeIndex+1);
   Vec3 MPrime(XCurr(iReactionPrimeIndex+4),
               XCurr(iReactionPrimeIndex+5),
               0.);
   
   /* Versori delle cerniere */
   Vec3 e3(R0.GetVec(3));
   Vec3 e1(RhTmp.GetVec(1));
   Vec3 e2(RhTmp.GetVec(2));

   /* Vettori temporanei */
   Vec3 Tmp1(e2.Cross(e3));   
   Vec3 Tmp2(e3.Cross(e1));
      
   Vec3 TmpPrime1(e3.Cross(e2.Cross(Omega)));
   Vec3 TmpPrime2(e3.Cross(Omega.Cross(e1)));   
   
   /* Distanza nel sistema globale */
   Vec3 dTmp(R*d);

   /* Vettori omega/\d */
   Vec3 OWedged(Omega.Cross(dTmp));
   
   /* Ruota il momento e la sua derivata con le matrici della cerniera 
    * rispetto ai nodi */
   Vec3 MTmp(e2*M.dGet(1)-e1*M.dGet(2));       
   Vec3 MPrimeTmp(e3.Cross(MTmp.Cross(Omega))+
                  e2.Cross(e3)*MPrime.dGet(1)+e3.Cross(e1)*MPrime.dGet(2)); 
   
   /* Equazioni di equilibrio */
   WorkVec.Sub(1, F);
   WorkVec.Add(4, F.Cross(dTmp)-MTmp.Cross(e3)); /* Sfrutto il fatto che F/\d = -d/\F */
   
   /* Derivate delle equazioni di equilibrio, nodo 1 */
   WorkVec.Sub(7, FPrime);
   WorkVec.Add(10, FPrime.Cross(dTmp)-OWedged.Cross(F)-MPrimeTmp);
   
   /* Equazione di vincolo di posizione */
   WorkVec.Add(13, x+dTmp-X0);
   
   /* Equazioni di vincolo di rotazione */
   WorkVec.PutCoef(16, e2.Dot(e3));
   WorkVec.PutCoef(17, e1.Dot(e3));

   /* Derivata dell'equazione di vincolo di posizione */
   WorkVec.Add(18, v+OWedged);
   
   /* Derivate delle equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */
   Vec3 Tmp(e3.Cross(Omega));
   WorkVec.PutCoef(21, e2.Dot(Tmp));
   WorkVec.PutCoef(22, e1.Dot(Tmp));
      
   return WorkVec;
}

Here is the call graph for this function:

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 613 of file planej.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                              { 
      *piNumRows = 22; 
      *piNumCols = 22; 
   };

void PlanePinJoint::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 4513 of file planej.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, F, WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), OutputHandler::Joints(), M, MatR2EulerAngles(), Mat3x3::MulTM(), Joint::Output(), pNode, R0, and Rh.

{
   if (bToBeOutput()) {
      Mat3x3 RTmp(pNode->GetRCurr()*Rh);
      Mat3x3 R0Tmp(R0.MulTM(RTmp));
      
      Joint::Output(OH.Joints(), "PlanePin", GetLabel(),
                    RTmp.MulTV(F), M, F, RTmp*M) 
        << " " << MatR2EulerAngles(R0Tmp)*dRaDegr
        << " " << RTmp.MulTV(pNode->GetWCurr()) << std::endl;      
   }
}

Here is the call graph for this function:

Hint * PlanePinJoint::ParseHint ( DataManager *  pDM, const char *  s  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 4260 of file planej.cc.

References STRLENOF.

{
        if (strncasecmp(s, "offset{" /*}*/, STRLENOF("offset{" /*}*/)) == 0) {
                s += STRLENOF("offset{" /*}*/);

                if (strcmp(&s[1], /* { */ "}") != 0) {
                        return 0;
                }

                switch (s[0]) {
                case '1':
                        return new Joint::OffsetHint<1>;

                case '0':
                        return new Joint::OffsetHint<0>;
                }

        } else if (strncasecmp(s, "hinge{" /*}*/, STRLENOF("hinge{" /*}*/)) == 0) {
                s += STRLENOF("hinge{" /*}*/);

                if (strcmp(&s[1], /*{*/ "}") != 0) {
                        return 0;
                }

                switch (s[0]) {
                case '1':
                        return new Joint::HingeHint<1>;

                case '0':
                        return new Joint::HingeHint<0>;
                }
        }

        return 0;
}

void PlanePinJoint::ReadInitialState ( MBDynParser &  HP )

virtual

Reimplemented from SimulationEntity.

Definition at line 4329 of file planej.cc.

References F, HighParser::GetReal(), MBDynParser::GetVec3(), and M.

{
        F = HP.GetVec3();
        M = Vec3(HP.GetReal(), HP.GetReal(), 0.);
}

Here is the call graph for this function:

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

virtual

Implements Elem.

Definition at line 4336 of file planej.cc.

References d, Vec3::dGet(), dTheta, F, WithLabel::GetLabel(), Mat3x3::GetVec(), M, pNode, R0, Joint::Restart(), Rh, Write(), Vec3::Write(), and X0.

{
   Joint::Restart(out) << ", revolute pin, "
     << pNode->GetLabel() 
     << ", reference, node, ", d.Write(out, ", ") 
     << ", hinge, reference, node, 1, ", 
     (Rh.GetVec(1)).Write(out, ", ") << ", 2, ", 
     (Rh.GetVec(2)).Write(out, ", ") 
     << ", reference, global, ", X0.Write(out, ", ") 
     << ",hinge, reference, global, 1, ",
     (R0.GetVec(1)).Write(out, ", ") << ", 2, ", 
     (R0.GetVec(2)).Write(out, ", ")  << ", " 
     << "initial theta, " << dTheta << ", "
     << "initial state, ", F.Write(out, ", ") 
     << ", " << M.dGet(1) << ", " << M.dGet(2) << ';' << std::endl;
   
   return out;
}

Here is the call graph for this function:

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

virtual

Reimplemented from Joint.

Definition at line 4219 of file planej.cc.

References calcInitdTheta, d, dTheta, dThetaWrapped, StructNode::GetRCurr(), StructDispNode::GetXCurr(), Mat3x3::MulTM(), Mat3x3::MulTV(), pNode, R, R0, Rh, RotManip::VecRot(), and X0.

{
        if (ph) {
                for (unsigned i = 0; i < ph->size(); i++) {
                        Joint::JointHint *pjh = dynamic_cast<Joint::JointHint *>((*ph)[i]);

                        if (pjh == 0) {
                                continue;
                        }

                        if (dynamic_cast<Joint::OffsetHint<1> *>(pjh)) {
                                const Mat3x3& R(pNode->GetRCurr());
   
                                d = R.MulTV(X0 - pNode->GetXCurr());

                        } else if (dynamic_cast<Joint::OffsetHint<0> *>(pjh)) {
                                Vec3 dTmp(pNode->GetRCurr()*d);
   
                                X0 = R0.MulTV(pNode->GetXCurr() + dTmp);

                        } else if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
                                Rh = pNode->GetRCurr().MulTM(R0);

                        } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
                                R0 = pNode->GetRCurr()*Rh;

                        } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
                                /* TODO */
                        }
                }
        }

        if (calcInitdTheta) {
                Vec3 v(RotManip::VecRot(R0.MulTM(pNode->GetRCurr()*Rh)));
                dThetaWrapped = dTheta = v.dGet(3);
        }
}

Here is the call graph for this function:

virtual void PlanePinJoint::WorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

inlinevirtual

Implements Elem.

Definition at line 591 of file planej.h.

Referenced by AssRes().

                                                                           { 
      *piNumRows = 11; 
      *piNumCols = 11;
   };

Member Data Documentation

bool PlanePinJoint::calcInitdTheta

private

Definition at line 530 of file planej.h.

Referenced by SetValue().

Vec3 PlanePinJoint::d

private

Definition at line 526 of file planej.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Restart(), and SetValue().

doublereal PlanePinJoint::dTheta

mutableprivate

Definition at line 532 of file planej.h.

Referenced by AfterConvergence(), Restart(), and SetValue().

doublereal PlanePinJoint::dThetaWrapped

mutableprivate

Definition at line 532 of file planej.h.

Referenced by AfterConvergence(), dGetPrivData(), and SetValue().

Vec3 PlanePinJoint::F

private

Definition at line 528 of file planej.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), InitialAssJac(), InitialAssRes(), Output(), ReadInitialState(), and Restart().

Vec3 PlanePinJoint::M

private

Definition at line 529 of file planej.h.

Referenced by AssJac(), AssRes(), dGetPrivData(), InitialAssJac(), InitialAssRes(), Output(), ReadInitialState(), and Restart().

int PlanePinJoint::NTheta

mutableprivate

Definition at line 531 of file planej.h.

Referenced by AfterConvergence(), and dGetPrivData().

const StructNode* PlanePinJoint::pNode

private

Definition at line 523 of file planej.h.

Referenced by AfterConvergence(), AssJac(), AssRes(), dGetPrivData(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Mat3x3 PlanePinJoint::R0

private

Definition at line 525 of file planej.h.

Referenced by AfterConvergence(), AssJac(), AssRes(), dGetPrivData(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Mat3x3 PlanePinJoint::Rh

private

Definition at line 527 of file planej.h.

Referenced by AfterConvergence(), AssJac(), AssRes(), dGetPrivData(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Vec3 PlanePinJoint::X0

private

Definition at line 524 of file planej.h.

Referenced by AssRes(), InitialAssRes(), Restart(), and SetValue().

---

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

• planej.h
• planej.cc