#include <rottrim.h>

Inheritance diagram for RotorTrimBase:

Collaboration diagram for RotorTrimBase:

Public Member Functions
	RotorTrimBase (unsigned int uL, const DofOwner pDO, const ScalarDifferentialNode pNode1, const ScalarDifferentialNode pNode2, const ScalarDifferentialNode pNode3, const DriveCaller pDThrust, const DriveCaller pDRollMoment, const DriveCaller pDPitchMoment, const doublereal &dG, const doublereal &dp, const doublereal &dT0, const doublereal &dT1, const doublereal &dK0, const doublereal &dK1, const DriveCaller pTrigger, flag fOut)

virtual	~RotorTrimBase (void)

virtual unsigned int	iGetNumDof (void) const

virtual Genel::Type	GetGenelType (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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 DofOrder::Order	GetDofType (unsigned int) 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 void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints h=0)

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

virtual	~Genel (void)

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

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

virtual void	SetInitialValue (VectorHandler &X)

Protected Member Functions
virtual void	GetData (doublereal &dThrust, doublereal &dRollMoment, doublereal &dPitchMoment, doublereal &dRho, doublereal &dOmega, doublereal &dMu) const =0

Protected Attributes
doublereal	dRadius

const ScalarDifferentialNode *	pvNodes [3]

DriveOwner	DThrust

DriveOwner	DRollMoment

DriveOwner	DPitchMoment

DriveOwner	Trigger

doublereal	dGamma

doublereal	dP

doublereal	dP2

doublereal	dC

doublereal	dC2

doublereal	dTau0

doublereal	dTau1

doublereal	dKappa0

doublereal	dKappa1

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

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 Genel
enum	Type { UNKNOWN = -1, SWASHPLATE = 0, ROTORTRIM, CLAMP, DISTANCE, SPRING, SPRINGSUPPORT, CROSSSPRINGSUPPORT, SPRINGDAMPER, SPRINGDAMPERSUPPORT, CROSSSPRINGDAMPERSUPPORT, MASS, SCALARFILTER, STATESPACESISO, STATESPACEMIMO, LASTGENELTYPE }

Detailed Description

Definition at line 58 of file rottrim.h.

Constructor & Destructor Documentation

RotorTrimBase::RotorTrimBase	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ScalarDifferentialNode *	pNode1,
		const ScalarDifferentialNode *	pNode2,
		const ScalarDifferentialNode *	pNode3,
		const DriveCaller *	pDThrust,
		const DriveCaller *	pDRollMoment,
		const DriveCaller *	pDPitchMoment,
		const doublereal &	dG,
		const doublereal &	dp,
		const doublereal &	dT0,
		const doublereal &	dT1,
		const doublereal &	dK0,
		const doublereal &	dK1,
		const DriveCaller *	pTrigger,
		flag	fOut
	)

Definition at line 41 of file rottrim.cc.

References ASSERT, dGamma, dP, and pvNodes.

 : Elem(uL, fOut),
 Genel(uL, pDO, fOut),
 dRadius(-1.),
 DThrust(pDThrust),
 DRollMoment(pDRollMoment),
 DPitchMoment(pDPitchMoment),
 Trigger(pTrigger),
 dGamma(dG),
 dP(dp),
 dP2(dP*dP),
 dC(8.*(dP*dP - 1.)/dGamma),
 dC2(dC*dC),
 dTau0(dT0),
 dTau1(dT1),
 dKappa0(dK0),
 dKappa1(dK1)
 {
         ASSERT(pNode1 != NULL);
         ASSERT(pNode2 != NULL);
         ASSERT(pNode3 != NULL);
         ASSERT(dGamma > 0.);
         ASSERT(dP > 0.);
 
         pvNodes[0] = pNode1;
         pvNodes[1] = pNode2;
         pvNodes[2] = pNode3;
 }

RotorTrimBase::~RotorTrimBase ( void )

virtual

Definition at line 85 of file rottrim.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & RotorTrimBase::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	,
		const VectorHandler &
	)

virtual

Implements Elem.

Definition at line 106 of file rottrim.cc.

References DEBUGCOUT, DriveOwner::dGet(), dTau0, dTau1, Node::iGetFirstColIndex(), Node::iGetFirstRowIndex(), SparseSubMatrixHandler::PutItem(), pvNodes, SparseSubMatrixHandler::Resize(), VariableSubMatrixHandler::SetSparse(), and Trigger.

 {
         DEBUGCOUT("Entering RotorTrimBase::AssJac()" << std::endl);
 
         SparseSubMatrixHandler& WM = WorkMat.SetSparse();
         WM.Resize(3, 0);
 
         doublereal      d[3];
         if (Trigger.dGet() == 0.) {
                 d[0] = dCoef;
                 d[1] = dCoef;
                 d[2] = dCoef;
 
         } else {
                 d[0] = dTau0 + dCoef;
                 d[1] = dTau1 + dCoef;
                 d[2] = dTau1 + dCoef;
         }
 
         for (int iIdx = 0; iIdx < 3; iIdx++ ) {
                 integer iRowIndex = pvNodes[iIdx]->iGetFirstRowIndex() + 1;
                 integer iColIndex = pvNodes[iIdx]->iGetFirstColIndex() + 1;
                 WM.PutItem(iIdx + 1, iRowIndex, iColIndex, d[iIdx]);
         }
 
         return WorkMat;
 }

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SubVectorHandler & RotorTrimBase::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	,
		const VectorHandler &
	)

virtual

Implements Elem.

Definition at line 139 of file rottrim.cc.

References dC, dC2, DEBUGCOUT, dGamma, DriveOwner::dGet(), ScalarDifferentialNode::dGetX(), ScalarDifferentialNode::dGetXPrime(), dKappa0, dKappa1, dP2, DPitchMoment, dRadius, DRollMoment, dTau0, dTau1, DThrust, GetData(), M_PI, grad::pow(), VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), pvNodes, VectorHandler::Resize(), Mat3x3::Solve(), and Trigger.

 {
         DEBUGCOUT("Entering RotorTrimBase::AssRes()" << std::endl);
 
         WorkVec.Resize(3);
 
         WorkVec.PutRowIndex(1, pvNodes[0]->iGetFirstRowIndex() + 1);
         WorkVec.PutRowIndex(2, pvNodes[1]->iGetFirstRowIndex() + 1);
         WorkVec.PutRowIndex(3, pvNodes[2]->iGetFirstRowIndex() + 1);
 
         doublereal dX1 = pvNodes[0]->dGetX();
         doublereal dX2 = pvNodes[1]->dGetX();
         doublereal dX3 = pvNodes[2]->dGetX();
 
         if (Trigger.dGet() == 0.) {
                 WorkVec.PutCoef(1, -dX1);
                 WorkVec.PutCoef(2, -dX2);
                 WorkVec.PutCoef(3, -dX3);
 
                 return WorkVec;
         }
 
         doublereal dX1Prime = pvNodes[0]->dGetXPrime();
         doublereal dX2Prime = pvNodes[1]->dGetXPrime();
         doublereal dX3Prime = pvNodes[2]->dGetXPrime();
 
         doublereal dThrust;
         doublereal dRollMoment;
         doublereal dPitchMoment;
         doublereal dRho;
         doublereal dOmega;
         doublereal dMu;
 
         GetData(dThrust, dRollMoment, dPitchMoment, dRho, dOmega, dMu);
 
         doublereal d = M_PI*pow(dRadius, 4)*dRho*dOmega*dOmega;
         dThrust /= d;
         d *= dRadius;
         dRollMoment /= d;
         dPitchMoment /= d;
 
         doublereal dMu2 = dMu*dMu;
 
         const doublereal f = dC/(1. + dC2);
 
         Mat3x3 m((1. + 3./2.*dMu2)/6.,
                 -f*dMu/6.*(dC - dGamma/(16.*dP2)),
                 f*dMu/6.*(1. + dC*dGamma/(16.*dP2)),
                 2./9.*dMu,
                 -f/16.*(dC*(1. + 3./2.*dMu2) - 2./9.*dMu2*dGamma/dP2),
                 f/16.*((1. + 2.*dMu2) + 2./9.*dMu2*dC*dGamma/dP2),
                 0.,
                 -f/16.,
                 -f*dC/16.*(1. + 1./2.*dMu2));
         Vec3 v(DThrust.dGet() - dThrust,
                 DRollMoment.dGet() - dRollMoment,
                 DPitchMoment.dGet() - dPitchMoment);
         v = m.Solve(v);
 
         WorkVec.PutCoef(1, v(1)*dKappa0 - dX1 - dTau0*dX1Prime);
         WorkVec.PutCoef(2, v(2)*dKappa1 - dX2 - dTau1*dX2Prime);
         WorkVec.PutCoef(3, v(3)*dKappa1 - dX3 - dTau1*dX3Prime);
 
         return WorkVec;
 }

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

virtual

Reimplemented from Elem.

Reimplemented in RotorTrim.

Definition at line 209 of file rottrim.cc.

References pvNodes.

 {
         connectedNodes.resize(3);
         for (int i = 0; i < 3; i++) {
                 connectedNodes[i] = pvNodes[i];
         }
 }

virtual void RotorTrimBase::GetData	(	doublereal &	dThrust,
		doublereal &	dRollMoment,
		doublereal &	dPitchMoment,
		doublereal &	dRho,
		doublereal &	dOmega,
		doublereal &	dMu
	)		const

protectedpure virtual

Implemented in RotorTrimGeneric, and RotorTrim.

Referenced by AssRes().

virtual Genel::Type RotorTrimBase::GetGenelType ( void ) const

inlinevirtual

Implements Genel.

Definition at line 109 of file rottrim.h.

References Genel::ROTORTRIM.

                                                    { 
                 return Genel::ROTORTRIM; 
         };

unsigned int RotorTrimBase::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 91 of file rottrim.cc.

 {
         return 0;
 }

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

virtual

Implements Elem.

Definition at line 98 of file rottrim.cc.

 {
         *piNumRows = 3;
         *piNumCols = 3;
 }

Member Data Documentation

doublereal RotorTrimBase::dC

protected

Definition at line 69 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dC2

protected

Definition at line 70 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dGamma

protected

Definition at line 65 of file rottrim.h.

Referenced by AssRes(), and RotorTrimBase().

doublereal RotorTrimBase::dKappa0

protected

Definition at line 74 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dKappa1

protected

Definition at line 75 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dP

protected

Definition at line 66 of file rottrim.h.

Referenced by RotorTrimBase().

doublereal RotorTrimBase::dP2

protected

Definition at line 68 of file rottrim.h.

Referenced by AssRes().

DriveOwner RotorTrimBase::DPitchMoment

protected

Definition at line 62 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dRadius

protected

Definition at line 60 of file rottrim.h.

Referenced by AssRes(), RotorTrim::RotorTrim(), and RotorTrimGeneric::RotorTrimGeneric().

DriveOwner RotorTrimBase::DRollMoment

protected

Definition at line 62 of file rottrim.h.

Referenced by AssRes().

doublereal RotorTrimBase::dTau0

protected

Definition at line 72 of file rottrim.h.

Referenced by AssJac(), and AssRes().

doublereal RotorTrimBase::dTau1

protected

Definition at line 73 of file rottrim.h.

Referenced by AssJac(), and AssRes().

DriveOwner RotorTrimBase::DThrust

protected

Definition at line 62 of file rottrim.h.

Referenced by AssRes().

const ScalarDifferentialNode* RotorTrimBase::pvNodes[3]

protected

Definition at line 61 of file rottrim.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), RotorTrim::GetConnectedNodes(), and RotorTrimBase().

DriveOwner RotorTrimBase::Trigger

protected

Definition at line 63 of file rottrim.h.

Referenced by AssJac(), and AssRes().

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