#include <accelerometer.h>

Inheritance diagram for RotAccel:

Collaboration diagram for RotAccel:

Public Member Functions
	RotAccel (unsigned int uL, const DofOwner pD, const StructNode pS, const ScalarDifferentialNode *pA, const Vec3 &TmpDir, flag fOut)

	~RotAccel (void)

virtual Electric::Type	GetElectricType (void) const

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

virtual unsigned int	iGetNumDof (void) const

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

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

virtual void	SetInitialValue (VectorHandler &)

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

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

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

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

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

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

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

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

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

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

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

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

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

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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 Electric
	Electric (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~Electric (void)

virtual Elem::Type	GetElemType (void) const

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

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Private Attributes
const StructNode *	pStrNode

const ScalarDifferentialNode *	pAbsNode

Vec3	Dir

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 Electric
enum	Type { UNKNOWN = -1, ACCELEROMETER = 0, DISPLACEMENT, DISCRETECONTROL, MOTOR, LASTELECTRICTYPE }

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Detailed Description

Definition at line 163 of file accelerometer.h.

Constructor & Destructor Documentation

RotAccel::RotAccel	(	unsigned int	uL,
		const DofOwner *	pD,
		const StructNode *	pS,
		const ScalarDifferentialNode *	pA,
		const Vec3 &	TmpDir,
		flag	fOut
	)

Definition at line 408 of file accelerometer.cc.

References Node::ABSTRACT, ASSERT, StructDispNode::GetNodeType(), ScalarDifferentialNode::GetNodeType(), pAbsNode, pStrNode, and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Electric(uL, pDO, fOut),
 pStrNode(pS), pAbsNode(pA),
 Dir(TmpDir)
 {
         ASSERT(pStrNode != NULL);
         ASSERT(pStrNode->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pAbsNode != NULL);
         ASSERT(pAbsNode->GetNodeType() == Node::ABSTRACT);
 }

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RotAccel::~RotAccel ( void )

Definition at line 426 of file accelerometer.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 445 of file accelerometer.cc.

References DEBUGCOUT, Vec3::dGet(), Dir, StructNode::GetRCurr(), Node::iGetFirstColIndex(), DofOwnerOwner::iGetFirstIndex(), pAbsNode, pStrNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

 {
         DEBUGCOUT("Entering RotAccel::AssJac()" << std::endl);
 
         /* Casting di WorkMat */
         SparseSubMatrixHandler& WM = WorkMat.SetSparse();
         WM.ResizeReset(6, 0);
 
         /* Indici delle equazioni */
         integer iFirstColIndex = pStrNode->iGetFirstColIndex();
         integer iAbstractIndex = pAbsNode->iGetFirstIndex()+1;
         integer iFirstIndex = iGetFirstIndex()+1;
 
         WM.PutItem(1, iAbstractIndex, iAbstractIndex, dCoef);
         WM.PutItem(2, iAbstractIndex, iFirstIndex, -1.);
         WM.PutItem(3, iFirstIndex, iFirstIndex, dCoef);
 
         Vec3 tmp = pStrNode->GetRCurr()*Dir;
         WM.PutItem(4, iFirstIndex, iFirstColIndex+4, tmp.dGet(1));
         WM.PutItem(5, iFirstIndex, iFirstColIndex+5, tmp.dGet(2));
         WM.PutItem(6, iFirstIndex, iFirstColIndex+6, tmp.dGet(3));
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 475 of file accelerometer.cc.

References a, DEBUGCOUT, ScalarDifferentialNode::dGetX(), Dir, Vec3::Dot(), StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), pAbsNode, pStrNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), and VectorHandler::Resize().

 {
         DEBUGCOUT("Entering RotAccel::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         WorkVec.Resize(2);
 
         integer iAbstractIndex = pAbsNode->iGetFirstIndex() + 1;
         integer iFirstIndex = iGetFirstIndex() + 1;
 
         WorkVec.PutRowIndex(1, iAbstractIndex);
         WorkVec.PutRowIndex(2, iFirstIndex);
 
         Vec3 tmp = pStrNode->GetRCurr()*Dir;
 
         doublereal v = XCurr(iFirstIndex);
         doublereal vp = XPrimeCurr(iFirstIndex);
         doublereal a = pAbsNode->dGetX();
 
         WorkVec.PutCoef(1, vp - a);
         WorkVec.PutCoef(2, tmp.Dot(pStrNode->GetWCurr()) - v);
 
         return WorkVec;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 208 of file accelerometer.h.

References pAbsNode, and pStrNode.

                                                                          {
                 connectedNodes.resize(2);
                 connectedNodes[0] = pStrNode;
                 connectedNodes[1] = pAbsNode;
         };

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

virtual

Reimplemented from Elem.

Definition at line 510 of file accelerometer.cc.

References ASSERT, and DofOrder::DIFFERENTIAL.

 {
         ASSERT(i == 0);
         return DofOrder::DIFFERENTIAL;
 }

virtual Electric::Type RotAccel::GetElectricType ( void ) const

inlinevirtual

Implements Electric.

Definition at line 176 of file accelerometer.h.

References Electric::ACCELEROMETER.

                                                          {
                 return Electric::ACCELEROMETER;
         };

unsigned int RotAccel::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 504 of file accelerometer.cc.

 {
         return 1;
 }

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

virtual

Implements Elem.

Definition at line 433 of file accelerometer.cc.

References Dir, WithLabel::GetLabel(), pAbsNode, pStrNode, Electric::Restart(), and Vec3::Write().

 {
         Electric::Restart(out) << ", accelerometer, rotational, "
                 << pStrNode->GetLabel() << ", "
                 << pAbsNode->GetLabel() << ", "
                 "reference, node, ", Dir.Write(out, ", ") << ';'
                 << std::endl;
         return out;
 }

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void RotAccel::SetInitialValue ( VectorHandler & X )

virtual

Initialize state vector used in initial assembly. May set internal states of the element. Do not rely on being always called, because initial assembly could be implicitly or explicitly skipped

Reimplemented from DofOwnerOwner.

Definition at line 524 of file accelerometer.cc.

References NO_OP.

 {
         NO_OP;
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 530 of file accelerometer.cc.

References Dir, grad::Dot(), StructNode::GetRCurr(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), pStrNode, and VectorHandler::PutCoef().

 {
         doublereal v = (pStrNode->GetRCurr()*Dir).Dot(pStrNode->GetWCurr());
         X.PutCoef(iGetFirstIndex() + 1, v);
 }

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

virtual

Implements Elem.

Definition at line 517 of file accelerometer.cc.

 {
         *piNumRows = 2;
         *piNumCols = 5;
 }

Member Data Documentation

Vec3 RotAccel::Dir

private

Definition at line 167 of file accelerometer.h.

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

const ScalarDifferentialNode* RotAccel::pAbsNode

private

Definition at line 166 of file accelerometer.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), Restart(), and RotAccel().

const StructNode* RotAccel::pStrNode

private

Definition at line 165 of file accelerometer.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), Restart(), RotAccel(), and SetValue().

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation