#include <body_vm.h>

Inheritance diagram for StaticVariableBody:

Collaboration diagram for StaticVariableBody:

Public Member Functions
	StaticVariableBody (unsigned int uL, const StaticStructNode pNode, const DriveCaller pDCMass, const TplDriveCaller< Vec3 > pDCXgc, const TplDriveCaller< Mat3x3 > pDCJgc_vm, const TplDriveCaller< Mat3x3 > *pDCJgc_vg, flag fOut)

virtual	~StaticVariableBody (void)

void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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 bool	bInverseDynamics (void) const

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

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 void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, 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 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) 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 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	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 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 VariableBody
	VariableBody (unsigned int uL, const StructNode pNode, const DriveCaller pDCMass, const TplDriveCaller< Vec3 > pDCXgc, const TplDriveCaller< Mat3x3 > pDCJgc_vm, const TplDriveCaller< Mat3x3 > *pDCJgc_vg, flag fOut)

virtual	~VariableBody (void)

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

doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

const StructNode *	pGetNode (void) const

virtual Elem::Type	GetElemType (void) const

virtual unsigned int	iGetInitialNumDof (void) const

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

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 ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

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 InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Private Member Functions
bool	AssMats (FullSubMatrixHandler &WorkMatA, FullSubMatrixHandler &WorkMatB, doublereal dCoef)

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 }

Protected Member Functions inherited from VariableBody
Vec3	GetS_int (void) const

Mat3x3	GetJ_int (void) const

void	AssVecRBK_int (SubVectorHandler &WorkVec)

void	AssMatsRBK_int (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, const doublereal &dCoef, const Vec3 &Sc)

Protected Member Functions inherited from ElemGravityOwner
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 VariableBody
const StructNode *	pNode

DriveOwner	m_Mass

TplDriveOwner< Vec3 >	m_Xgc

TplDriveOwner< Mat3x3 >	m_Jgc_vm

TplDriveOwner< Mat3x3 >	m_Jgc_vg

doublereal	dMTmp

Vec3	STmp

Mat3x3	JTmp

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 211 of file body_vm.h.

Constructor & Destructor Documentation

StaticVariableBody::StaticVariableBody	(	unsigned int	uL,
		const StaticStructNode *	pNode,
		const DriveCaller *	pDCMass,
		const TplDriveCaller< Vec3 > *	pDCXgc,
		const TplDriveCaller< Mat3x3 > *	pDCJgc_vm,
		const TplDriveCaller< Mat3x3 > *	pDCJgc_vg,
		flag	fOut
	)

Definition at line 739 of file body_vm.cc.

References NO_OP.

 : Elem(uL, fOut),
 VariableBody(uL, pNode, pDCMass, pDCXgc, pDCJgc_vm, pDCJgc_vg, fOut)
 {
         NO_OP;
 }

StaticVariableBody::~StaticVariableBody ( void )

virtual

Definition at line 754 of file body_vm.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 761 of file body_vm.cc.

References AssMats(), DEBUGCOUTFNAME, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), VariableBody::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and VariableSubMatrixHandler::SetNullMatrix().

 {
         DEBUGCOUTFNAME("StaticVariableBody::AssJac");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         WM.ResizeReset(6, 6);
 
         /* Setta gli indici della matrice - le incognite sono ordinate come:
          *   - posizione (3)
          *   - parametri di rotazione (3)
          *   - quantita' di moto (3)
          *   - momento della quantita' di moto
          * e gli indici sono consecutivi. La funzione pGetFirstPositionIndex()
          * ritorna il valore del primo indice -1, in modo che l'indice i-esimo
          * e' dato da iGetFirstPositionIndex() + i */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         if (AssMats(WM, WM, dCoef)) {
                 WorkMat.SetNullMatrix();
         }
 
         return WorkMat;
 }

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bool StaticVariableBody::AssMats	(	FullSubMatrixHandler &	WorkMatA,
		FullSubMatrixHandler &	WorkMatB,
		doublereal	dCoef
	)

private

Definition at line 838 of file body_vm.cc.

References FullSubMatrixHandler::Add(), VariableBody::AssMatsRBK_int(), GravityOwner::bGetGravity(), DEBUGCOUTFNAME, StructDispNode::GetXCurr(), MatCrossCross, StructDispNode::pGetRBK(), VariableBody::pNode, VariableBody::STmp, and Zero3.

Referenced by AssJac(), and AssMats().

 {
         DEBUGCOUTFNAME("StaticVariableBody::AssMats");
 
         /* Se e' definita l'accelerazione di gravita',
          * la aggiunge (solo al residuo) */
         Vec3 Acceleration(Zero3);
         bool g = GravityOwner::bGetGravity(pNode->GetXCurr(), Acceleration);
 
         /* TODO: reference */
         Vec3 W(Zero3);
 
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         if (!g && !pRBK) {
                 /* Caller will set WMA & WMB to null matrix */
                 return true;
         }
 
         Vec3 Sc(STmp*dCoef);
 
         if (g) {
                 WMA.Add(3 + 1, 3 + 1, Mat3x3(MatCrossCross, Acceleration, Sc));
         }
 
         if (pRBK) {
                 AssMatsRBK_int(WMA, WMB, dCoef, Sc);
         }
 
         return false;
 }

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

virtual

Reimplemented from Elem.

Definition at line 798 of file body_vm.cc.

References AssMats(), DEBUGCOUTFNAME, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), VariableBody::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and VariableSubMatrixHandler::SetNullMatrix().

 {
         DEBUGCOUTFNAME("StaticVariableBody::AssMats");
 
         /* Casting di WorkMat */
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         FullSubMatrixHandler& WMB = WorkMatB.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         WMA.ResizeReset(6, 6);
         WMB.ResizeReset(6, 6);
 
         /* Setta gli indici della matrice - le incognite sono ordinate come:
          *   - posizione (3)
          *   - parametri di rotazione (3)
          *   - quantita' di moto (3)
          *   - momento della quantita' di moto
          * e gli indici sono consecutivi. La funzione pGetFirstPositionIndex()
          * ritorna il valore del primo indice -1, in modo che l'indice i-esimo
          * e' dato da iGetFirstPositionIndex() + i */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WMA.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                 WMA.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
 
                 WMB.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                 WMB.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         if (AssMats(WMA, WMB, 1.)) {
                 WorkMatA.SetNullMatrix();
                 WorkMatB.SetNullMatrix();
         }
 }

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

virtual

Implements Elem.

Definition at line 874 of file body_vm.cc.

References VectorHandler::Add(), VariableBody::AssVecRBK_int(), GravityOwner::bGetGravity(), Vec3::Cross(), DEBUGCOUTFNAME, DriveOwner::dGet(), VariableBody::dMTmp, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), StructDispNode::iGetFirstMomentumIndex(), VariableBody::JTmp, VariableBody::m_Jgc_vg, VariableBody::m_Jgc_vm, VariableBody::m_Mass, VariableBody::m_Xgc, MatCrossCross, StructDispNode::pGetRBK(), VariableBody::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::Resize(), VectorHandler::ResizeReset(), VariableBody::STmp, and Zero3.

 {
         DEBUGCOUTFNAME("StaticVariableBody::AssRes");
 
         const Vec3& X(pNode->GetXCurr());
         const Mat3x3& R(pNode->GetRCurr());
         Vec3 DXgc(R*m_Xgc.Get());
 
         /* Se e' definita l'accelerazione di gravita',
          * la aggiunge (solo al residuo) */
         Vec3 Acceleration(Zero3);
         bool g = GravityOwner::bGetGravity(X + DXgc, Acceleration);
 
         /* W is uninitialized because its use is conditioned by w */
         const RigidBodyKinematics *pRBK = pNode->pGetRBK();
 
         if (!g && !pRBK) {
                 WorkVec.Resize(0);
                 return WorkVec;
         }
 
         WorkVec.ResizeReset(6);
 
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
         }
 
         dMTmp = m_Mass.dGet();
         STmp = DXgc*dMTmp;
         JTmp = R*(m_Jgc_vm.Get() + m_Jgc_vg.Get() - Mat3x3(MatCrossCross, STmp, DXgc)).MulMT(R);
 
         if (g) {
                 WorkVec.Add(1, Acceleration*dMTmp);
                 WorkVec.Add(3 + 1, STmp.Cross(Acceleration));
         }
 
         if (pRBK) {
                 AssVecRBK_int(WorkVec);
         }
 
         return WorkVec;
 }

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SubVectorHandler & StaticVariableBody::AssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	,
		const VectorHandler &	,
		const VectorHandler &	,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Elem.

Definition at line 931 of file body_vm.cc.

References ASSERT, GravityOwner::bGetGravity(), Vec3::Cross(), DEBUGCOUTFNAME, DriveOwner::dGet(), VariableBody::dMTmp, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructNode::GetWCurr(), StructNode::GetWPCurr(), StructDispNode::GetXCurr(), StructDispNode::GetXPPCurr(), StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, VariableBody::JTmp, VariableBody::m_Jgc_vg, VariableBody::m_Jgc_vm, VariableBody::m_Mass, VariableBody::m_Xgc, MatCrossCross, VariableBody::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), VariableBody::STmp, and VectorHandler::Sub().

 {
         DEBUGCOUTFNAME("DynamicVariableBody::AssRes");
         
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS);
 
         const Vec3& X(pNode->GetXCurr());
         const Mat3x3& R(pNode->GetRCurr());
         Vec3 DXgc(R*m_Xgc.Get());
 
         /* Se e' definita l'accelerazione di gravita', la aggiunge */
         Vec3 GravityAcceleration;
         bool g = GravityOwner::bGetGravity(X + DXgc, GravityAcceleration);
 
         WorkVec.ResizeReset(6);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         dMTmp = m_Mass.dGet();
         STmp = DXgc*dMTmp;
         JTmp = R*(m_Jgc_vm.Get() + m_Jgc_vg.Get() - Mat3x3(MatCrossCross, STmp, DXgc)).MulMT(R);
 
         Vec3 Acceleration = pNode->GetXPPCurr()
                 + pNode->GetWPCurr().Cross(DXgc)
                 + pNode->GetWCurr().Cross(pNode->GetWCurr().Cross(DXgc));
         if (g) {
                 Acceleration -= GravityAcceleration;
         }
 
         WorkVec.Sub(1, Acceleration*dMTmp);
 
         Vec3 M = JTmp*pNode->GetWPCurr()
                 + STmp.Cross(pNode->GetXPPCurr())
                 + STmp.Cross(pNode->GetWCurr().Cross(pNode->GetWCurr().Cross(DXgc)));
         if (g) {
                 M -= STmp.Cross(GravityAcceleration);
         }
 
         WorkVec.Sub(4, M);
 
         return WorkVec;
 }

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bool StaticVariableBody::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 924 of file body_vm.cc.

 {
         return true;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 293 of file body_vm.h.

References VariableBody::pNode.

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

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 984 of file body_vm.cc.

References DEBUGCOUTFNAME, and VariableSubMatrixHandler::SetNullMatrix().

 {
         DEBUGCOUTFNAME("StaticVariableBody::InitialAssJac");
 
         WorkMat.SetNullMatrix();
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 997 of file body_vm.cc.

References DEBUGCOUTFNAME, and VectorHandler::ResizeReset().

 {
         DEBUGCOUTFNAME("StaticVariableBody::InitialAssRes");
 
         WorkVec.ResizeReset(0);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 270 of file body_vm.h.

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

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

virtual

Reimplemented from SimulationEntity.

Definition at line 1010 of file body_vm.cc.

References NO_OP.

 {
         NO_OP;
 }

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

inlinevirtual

Implements Elem.

Definition at line 231 of file body_vm.h.

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

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation