#include <rodj.h>

Inheritance diagram for Rod:

Collaboration diagram for Rod:

Public Member Functions
	Rod (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructDispNode pN1, const StructDispNode pN2, doublereal dLength, flag fOut, bool bHasOffsets=0)

virtual	~Rod (void)

virtual Joint::Type	GetJointType (void) const

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

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

virtual unsigned int	iGetNumDof (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

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

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual bool	bInverseDynamics (void) const

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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 DofOrder::Order	GetDofType (unsigned int) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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	ReadInitialState (MBDynParser &HP)

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 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	SetValue (DataManager pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints ph=0)

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)

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (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

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

Protected Member Functions
virtual doublereal	dCalcEpsilon (void)

void	AssMat (FullSubMatrixHandler &WorkMat, doublereal dCoef=1.)

void	AssVec (SubVectorHandler &WorkVec)

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
const StructDispNode *	pNode1

const StructDispNode *	pNode2

doublereal	dL0

Vec3	v

doublereal	dElle

doublereal	dEpsilon

doublereal	dEpsilonPrime

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

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

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 }

Detailed Description

Definition at line 45 of file rodj.h.

Constructor & Destructor Documentation

Rod::Rod	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw1D *	pCL,
		const StructDispNode *	pN1,
		const StructDispNode *	pN2,
		doublereal	dLength,
		flag	fOut,
		bool	bHasOffsets = `0`
	)

Definition at line 46 of file rodj.cc.

References ASSERT, dElle, Vec3::Dot(), WithLabel::GetLabel(), StructDispNode::GetNodeType(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, pNode1, pNode2, grad::sqrt(), Node::STRUCTURAL, and v.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw1DOwner(pCL),
 pNode1(pN1),
 pNode2(pN2),
 dL0(dLength),
 v(Zero3),
 dElle(0.),
 dEpsilon(0.),
 dEpsilonPrime(0.)
 #ifdef USE_NETCDF
 ,
 Var_v(0),
 Var_dElle(0),
 Var_dEllePrime(0)
 #endif // USE_NETCDF
 {
         /* Verifica di consistenza dei dati iniziali */
         ASSERT(pNode1 != 0);
         ASSERT(pNode1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pNode2 != 0);
         ASSERT(pNode2->GetNodeType() == Node::STRUCTURAL);
 
         if (!bHasOffsets) {
                 v = pNode2->GetXCurr() - pNode1->GetXCurr();
 
                 doublereal dDot = v.Dot();
                 if (dDot <= std::numeric_limits<doublereal>::epsilon()) {
                         silent_cerr("Rod(" << GetLabel() << "): "
                                 "initial length must be non-null" << std::endl);
                         throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
                 }
 
                 dElle = std::sqrt(dDot);
         }
 
         ASSERT(dLength > std::numeric_limits<doublereal>::epsilon());
 }

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Rod::~Rod ( void )

virtual

Definition at line 90 of file rodj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 104 of file rodj.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and dEpsilon.

Referenced by AfterConvergence().

 {
         ConstitutiveLaw1DOwner::AfterConvergence(dEpsilon);
 }

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void Rod::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP,
		const VectorHandler &	XPP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 459 of file rodj.cc.

References AfterConvergence().

 {
         AfterConvergence(X, XP);
 }

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

virtual

Implements Elem.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 199 of file rodj.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

Referenced by AssJac().

 {
         DEBUGCOUT("Entering Rod::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         /* Genera la matrice */
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

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VariableSubMatrixHandler & Rod::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Elem.

Definition at line 426 of file rodj.cc.

References ASSERT, AssJac(), and Elem::bIsErgonomy().

 {
         ASSERT(bIsErgonomy());
 
         return AssJac(WorkMat, 1., XCurr, XCurr);
 }

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void Rod::AssMat	(	FullSubMatrixHandler &	WorkMat,
		doublereal	dCoef = `1.`
	)

protected

Definition at line 121 of file rodj.cc.

References FullSubMatrixHandler::Add(), dElle, dL0, Vec3::Dot(), ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDE(), WithLabel::GetLabel(), MatCrossCross, MBDYN_EXCEPT_ARGS, pNode1, pNode2, grad::sqrt(), FullSubMatrixHandler::Sub(), Vec3::Tens(), and v.

Referenced by AssJac(), AssMats(), and InitialAssJac().

 {
         /* v = x2-x1 */
         /* v = pNode2->GetXCurr()-pNode1->GetXCurr(); */
         doublereal dCross = v.Dot();
 
         /* Verifica che la distanza non sia nulla */
         if (dCross <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("Rod(" << GetLabel() << "): "
                         "null distance between nodes " << pNode1->GetLabel()
                         << " and " << pNode2->GetLabel() << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         /* Lunghezza corrente */
         dElle = std::sqrt(dCross);
 
         /* Forza e slope */
         doublereal dF = GetF();
         doublereal dFDE = GetFDE();
 
         Mat3x3 K(Mat3x3(MatCrossCross, v, v*((-dF*dCoef)/(dElle*dCross)))
                 +v.Tens(v*((dFDE*dCoef)/(dL0*dCross))));
 
         /* Termini diagonali */
         WorkMat.Add(1, 1, K);
         WorkMat.Add(4, 4, K);
 
         /* termini extradiagonali */
         WorkMat.Sub(1, 4, K);
         WorkMat.Sub(4, 1, K);
 }

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void Rod::AssMats	(	VariableSubMatrixHandler &	WorkMatA,
		VariableSubMatrixHandler &	WorkMatB,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Reimplemented from Elem.

Definition at line 235 of file rodj.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), VariableSubMatrixHandler::SetNullMatrix(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering Rod::AssMats()" << std::endl);
 
         WorkMatB.SetNullMatrix();
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMA.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMA.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         /* Genera la matrice */
         AssMat(WMA, 1.);
 }

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

virtual

Implements Elem.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 270 of file rodj.cc.

References AssVec(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

Referenced by AssRes().

 {
         DEBUGCOUT("Entering Rod::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         /* Costruisce il vettore */
         AssVec(WorkVec);
 
         return WorkVec;
 }

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SubVectorHandler & Rod::AssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr,
		const VectorHandler &	XPrimePrimeCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Elem.

Definition at line 436 of file rodj.cc.

References ASSERT, AssRes(), Elem::bIsErgonomy(), DEBUGCOUT, InverseDynamics::INVERSE_DYNAMICS, and InverseDynamics::POSITION.

 {
         DEBUGCOUT("Entering Rod::AssRes()" << std::endl);
 
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS
                 || (iOrder == InverseDynamics::POSITION && bIsErgonomy()));
 
         return AssRes(WorkVec, 1., XCurr, XPrimeCurr);
 }

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void Rod::AssVec ( SubVectorHandler & WorkVec )

protected

Definition at line 155 of file rodj.cc.

References VectorHandler::Add(), dCalcEpsilon(), dElle, dEpsilon, dEpsilonPrime, dL0, Vec3::Dot(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructDispNode::GetVCurr(), StructDispNode::GetXCurr(), MBDYN_EXCEPT_ARGS, pNode1, pNode2, grad::sqrt(), VectorHandler::Sub(), ConstitutiveLawOwner< T, Tder >::Update(), and v.

Referenced by AssRes(), and InitialAssRes().

 {
         /* v = x2-x1 */
         v = pNode2->GetXCurr() - pNode1->GetXCurr();
         doublereal dCross = v.Dot();
 
         /* Verifica che la distanza non sia nulla */
         if (dCross <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("Rod(" << GetLabel() << "): "
                         "null distance between nodes " << pNode1->GetLabel()
                         << " and " << pNode2->GetLabel() << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         /* Deformazione */
         dElle = sqrt(dCross);
         dEpsilon = dCalcEpsilon();
 
         Vec3 vPrime(pNode2->GetVCurr() - pNode1->GetVCurr());
         dEpsilonPrime = v.Dot(vPrime)/(dElle*dL0);
 
         /* Ampiezza della forza */
         bool ChangeJac(false);
         try {
                 ConstitutiveLaw1DOwner::Update(dEpsilon);
 
         } catch (Elem::ChangedEquationStructure) {
                 ChangeJac = true;
         }
 
         doublereal dF = GetF();
 
         /* Vettore forza */
         Vec3 F = v*(dF/dElle);
 
         WorkVec.Add(1, F);
         WorkVec.Sub(4, F);
 
         if (ChangeJac) {
                 throw Elem::ChangedEquationStructure(MBDYN_EXCEPT_ARGS);
         }
 }

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bool Rod::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 418 of file rodj.cc.

 {
         return true;
 }

doublereal Rod::dCalcEpsilon ( void )

protectedvirtual

Definition at line 97 of file rodj.cc.

References dElle, and dL0.

Referenced by ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), and ViscoElasticRod::InitialAssRes().

 {
         return dElle/dL0 - 1.;
 }

doublereal Rod::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 499 of file rodj.cc.

References ASSERT, dElle, dEpsilonPrime, ConstitutiveLawOwner< T, Tder >::dGetPrivData(), dL0, ConstitutiveLawOwner< T, Tder >::GetF(), and ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

 {
         ASSERT(i > 0);
 
         switch (i) {
         case 1:
                 return GetF();
 
         case 2:
                 return dElle;
 
         case 3:
                 return dL0*dEpsilonPrime;
         }
 
         i -= 3;
         ASSERT(i <= ConstitutiveLaw1DOwner::iGetNumPrivData());
 
         return ConstitutiveLaw1DOwner::dGetPrivData(i);
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 189 of file rodj.h.

References pNode1, and pNode2.

                                                                          {
                 connectedNodes.resize(2);
                 connectedNodes[0] = pNode1;
                 connectedNodes[1] = pNode2;
         };

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

inlinevirtual

Implements Joint.

Definition at line 88 of file rodj.h.

References Joint::ROD.

                                                    {
                 return Joint::ROD;
         };

virtual unsigned int Rod::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 140 of file rodj.h.

                                                            {
                 return 0;
         };

virtual unsigned int Rod::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 98 of file rodj.h.

                                                     {
                 return 0;
         };

unsigned int Rod::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 467 of file rodj.cc.

References ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

 {
         return 3 + ConstitutiveLaw1DOwner::iGetNumPrivData();
 }

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

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 473 of file rodj.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::iGetPrivDataIdx(), and STRLENOF.

 {
         ASSERT(s != NULL);
 
         if (strcmp(s, "F") == 0) {
                 return 1;
         }
 
         if (strcmp(s, "L") == 0) {
                 return 2;
         }
 
         if (strcmp(s, "LPrime") == 0) {
                 return 3;
         }
 
         size_t l = STRLENOF("constitutiveLaw.");
         if (strncmp(s, "constitutiveLaw.", l) == 0) {
                 return 3 + ConstitutiveLaw1DOwner::iGetPrivDataIdx(&s[l]);
         }
 
         /* error; handle later */
         return 0;
 }

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

virtual

Implements SubjectToInitialAssembly.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 357 of file rodj.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUT("Entering Rod::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         /* Genera la matrice */
         AssMat(WM);
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 389 of file rodj.cc.

References AssVec(), DEBUGCOUT, StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         DEBUGCOUT("Entering Rod::InitialAssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         /* Costruisce il vettore */
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Reimplemented in RodWithOffset, and ViscoElasticRod.

Definition at line 144 of file rodj.h.

Referenced by InitialAssJac(), and InitialAssRes().

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

void Rod::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 320 of file rodj.cc.

References ASSERT, ToBeOutput::bToBeOutput(), dElle, dEpsilonPrime, dL0, OutputHandler::GetCurrentStep(), ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), OutputHandler::JOINTS, OutputHandler::Joints(), Joint::Output(), ConstitutiveLawOwner< T, Tder >::OutputAppend(), Vec3::pGetVec(), OutputHandler::UseNetCDF(), v, and Zero3.

 {
         if (bToBeOutput()) {
                 ASSERT(dElle > std::numeric_limits<doublereal>::epsilon());
 
 
                 Vec3 vTmp(v/dElle);
                 doublereal d = GetF();
                 doublereal dEllePrime = dEpsilonPrime*dL0;
 
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
 
                         Vec3 F = Vec3(d, 0., 0.);
                         Vec3 M = Zero3;
                         Vec3 FTmp = vTmp*d;
 
                         Var_F_local->put_rec(F.pGetVec(), OH.GetCurrentStep());
                         Var_M_local->put_rec(M.pGetVec(), OH.GetCurrentStep());
                         Var_F_global->put_rec(FTmp.pGetVec(), OH.GetCurrentStep());
                         Var_M_global->put_rec(M.pGetVec(), OH.GetCurrentStep());
                         Var_dElle->put_rec(&dElle, OH.GetCurrentStep());
                         Var_dEllePrime->put_rec(&dEllePrime, OH.GetCurrentStep());
                         Var_v->put_rec(vTmp.pGetVec(), OH.GetCurrentStep());
                 }
 #endif // USE_NETCDF
 
                 std::ostream& out = OH.Joints();
 
                 Joint::Output(out, "Rod", GetLabel(),
                         Vec3(d, 0., 0.), Zero3, vTmp*d, Zero3)
                         << " " << dElle << " " << vTmp << " " << dEpsilonPrime*dL0,
                         ConstitutiveLaw1DOwner::OutputAppend(out) << std::endl;
         }
 }

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void Rod::OutputPrepare ( OutputHandler & OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 300 of file rodj.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::JOINTS, Joint::OutputPrepare_int(), and OutputHandler::UseNetCDF().

 {
         if (bToBeOutput()) {
 #ifdef USE_NETCDF
                 if (OH.UseNetCDF(OutputHandler::JOINTS)) {
                         std::string name;
                         OutputPrepare_int("rod", OH, name);
 
                         Var_dElle = OH.CreateVar<doublereal>(name + "l", "m",
                                 "length of the element");
                         Var_dEllePrime = OH.CreateVar<doublereal>(name + "lP", "m/2",
                                 "lengthening velocity of the element");
                         Var_v = OH.CreateVar<Vec3>(name + "v", "m",
                                 "direction unit vector");
                 }
 #endif // USE_NETCDF
         }
 }

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

virtual

Implements Elem.

Reimplemented in RodWithOffset.

Definition at line 111 of file rodj.cc.

References dL0, WithLabel::GetLabel(), ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode1, pNode2, and Joint::Restart().

 {
         Joint::Restart(out) << ", rod, "
                 << pNode1->GetLabel() << ", "
                 << pNode2->GetLabel() << ", "
                 << dL0 << ", ";
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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void Rod::Update	(	const VectorHandler &	XCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Joint.

Definition at line 452 of file rodj.cc.

References NO_OP.

 {
         NO_OP;
 }

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

inlinevirtual

Implements Elem.

Reimplemented in RodWithOffset.

Definition at line 103 of file rodj.h.

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

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

Member Data Documentation

doublereal Rod::dElle

protected

Definition at line 53 of file rodj.h.

Referenced by ViscoElasticRod::AssJac(), RodWithOffset::AssJac(), AssMat(), ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), dCalcEpsilon(), dGetPrivData(), ViscoElasticRod::InitialAssJac(), RodWithOffset::InitialAssJac(), ViscoElasticRod::InitialAssRes(), Output(), Rod(), and RodWithOffset::RodWithOffset().

doublereal Rod::dEpsilon

protected

Definition at line 55 of file rodj.h.

Referenced by AfterConvergence(), ViscoElasticRod::AfterConvergence(), RodWithOffset::AfterConvergence(), ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), and ViscoElasticRod::InitialAssRes().

doublereal Rod::dEpsilonPrime

protected

Definition at line 56 of file rodj.h.

Referenced by ViscoElasticRod::AfterConvergence(), RodWithOffset::AfterConvergence(), RodWithOffset::AssJac(), ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), dGetPrivData(), RodWithOffset::InitialAssJac(), ViscoElasticRod::InitialAssRes(), and Output().

doublereal Rod::dL0

protected

Definition at line 50 of file rodj.h.

Referenced by ViscoElasticRod::AssJac(), RodWithOffset::AssJac(), AssMat(), ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), dCalcEpsilon(), dGetPrivData(), ViscoElasticRod::InitialAssJac(), RodWithOffset::InitialAssJac(), ViscoElasticRod::InitialAssRes(), Output(), Restart(), and RodWithOffset::Restart().

const StructDispNode* Rod::pNode1

protected

const StructDispNode* Rod::pNode2

protected

Vec3 Rod::v

protected

Definition at line 52 of file rodj.h.

Referenced by ViscoElasticRod::AssJac(), RodWithOffset::AssJac(), AssMat(), ViscoElasticRod::AssRes(), AssVec(), RodWithOffset::AssVec(), ViscoElasticRod::InitialAssJac(), RodWithOffset::InitialAssJac(), ViscoElasticRod::InitialAssRes(), Output(), Rod(), and RodWithOffset::RodWithOffset().

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