SwashPlate Class Reference

#include <swashpl.h>

Inheritance diagram for SwashPlate:

Collaboration diagram for SwashPlate:

Public Member Functions
	SwashPlate (unsigned int uL, const DofOwner *pDO, const ScalarDifferentialNode *pCollIn, const ScalarDifferentialNode *pLongIn, const ScalarDifferentialNode *pLatIn, const ScalarDifferentialNode *pN1, const ScalarDifferentialNode *pN2, const ScalarDifferentialNode *pN3, doublereal dDynCoef, doublereal dCyclFact, doublereal dCollFact, flag fCL, doublereal dCMin, doublereal dCMax, flag fFL, doublereal dFMin, doublereal dFMax, flag fLL, doublereal dLMin, doublereal dLMax, flag fOut)
virtual	~SwashPlate (void)
virtual std::ostream &	Restart (std::ostream &out) const
virtual Genel::Type	GetGenelType (void) const
virtual void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual void	SetInitialValue (VectorHandler &X)
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
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 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

Protected Attributes
const ScalarDifferentialNode *	pCollectiveIn
const ScalarDifferentialNode *	pLongitudinalIn
const ScalarDifferentialNode *	pLateralIn
const ScalarDifferentialNode *	pNode1
const ScalarDifferentialNode *	pNode2
const ScalarDifferentialNode *	pNode3
doublereal	dDynamicCoef
doublereal	dCyclicFactor
doublereal	dCollectiveFactor
flag	fCollLimits
doublereal	dCollMax
doublereal	dCollMin
flag	fForeAftLimits
doublereal	dForeAftMax
doublereal	dForeAftMin
flag	fLatLimits
doublereal	dLatMax
doublereal	dLatMin
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 43 of file swashpl.h.

Constructor & Destructor Documentation

SwashPlate::SwashPlate	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ScalarDifferentialNode *	pCollIn,
		const ScalarDifferentialNode *	pLongIn,
		const ScalarDifferentialNode *	pLatIn,
		const ScalarDifferentialNode *	pN1,
		const ScalarDifferentialNode *	pN2,
		const ScalarDifferentialNode *	pN3,
		doublereal	dDynCoef,
		doublereal	dCyclFact,
		doublereal	dCollFact,
		flag	fCL,
		doublereal	dCMin,
		doublereal	dCMax,
		flag	fFL,
		doublereal	dFMin,
		doublereal	dFMax,
		flag	fLL,
		doublereal	dLMin,
		doublereal	dLMax,
		flag	fOut
	)

Definition at line 43 of file swashpl.cc.

References Node::ABSTRACT, ASSERT, dCollectiveFactor, dCyclicFactor, dDynamicCoef, ScalarDifferentialNode::GetNodeType(), pCollectiveIn, pLateralIn, pLongitudinalIn, pNode1, pNode2, and pNode3.

: Elem(uL, fOut),
Genel(uL, pDO, fOut),
pCollectiveIn(pCollIn),   // Collective(pColl),
pLongitudinalIn(pLongIn), // Longitudinal(pLong),
pLateralIn(pLatIn),       // Lateral(pLat),
pNode1(pN1), pNode2(pN2), pNode3(pN3),
dDynamicCoef(dDynCoef),
dCyclicFactor(dCyclFact),
dCollectiveFactor(dCollFact),
fCollLimits(fCL), dCollMax(dCMax), dCollMin(dCMin),
fForeAftLimits(fFL), dForeAftMax(dFMax), dForeAftMin(dFMin),
fLatLimits(fLL), dLatMax(dLMax), dLatMin(dLMin)
{
        ASSERT(pCollectiveIn != NULL);
        ASSERT(pCollectiveIn->GetNodeType() == Node::ABSTRACT);
        ASSERT(pLongitudinalIn != NULL);
        ASSERT(pLongitudinalIn->GetNodeType() == Node::ABSTRACT);
        ASSERT(pLateralIn != NULL);
        ASSERT(pLateralIn->GetNodeType() == Node::ABSTRACT);

        ASSERT(pNode1 != NULL);
        ASSERT(pNode1->GetNodeType() == Node::ABSTRACT);
        ASSERT(pNode2 != NULL);
        ASSERT(pNode2->GetNodeType() == Node::ABSTRACT);
        ASSERT(pNode3 != NULL);
        ASSERT(pNode3->GetNodeType() == Node::ABSTRACT);

        ASSERT(dCyclicFactor != 0.);
        ASSERT(dCollectiveFactor != 0.);
        ASSERT(dDynamicCoef >= 0.);
}

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SwashPlate::~SwashPlate ( void  )

virtual

Definition at line 96 of file swashpl.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 133 of file swashpl.cc.

References dCollectiveFactor, dCyclicFactor, dDynamicCoef, DEBUGCOUT, DofOwnerOwner::iGetFirstIndex(), pCollectiveIn, pLateralIn, pLongitudinalIn, pNode1, pNode2, pNode3, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetSparse(), and grad::sqrt().

{
        DEBUGCOUT("Entering SwashPlate::AssJac()" << std::endl);

        /* Casting di WorkMat */
        SparseSubMatrixHandler& WM = WorkMat.SetSparse();
        WM.ResizeReset(14, 0);

        integer iCollFirstIndex = pCollectiveIn->iGetFirstIndex() + 1;
        integer iLongFirstIndex = pLongitudinalIn->iGetFirstIndex() + 1;
        integer iLatFirstIndex = pLateralIn->iGetFirstIndex() + 1;

        integer iNode1FirstIndex = pNode1->iGetFirstIndex() + 1;
        integer iNode2FirstIndex = pNode2->iGetFirstIndex() + 1;
        integer iNode3FirstIndex = pNode3->iGetFirstIndex() + 1;

        WM.PutItem(1, iCollFirstIndex, iCollFirstIndex, dCoef);
        WM.PutItem(2, iLongFirstIndex, iLongFirstIndex, dCoef);
        WM.PutItem(3, iLatFirstIndex, iLatFirstIndex, dCoef);

        doublereal d = dDynamicCoef + dCoef;

        WM.PutItem(4, iNode1FirstIndex, iNode1FirstIndex, d);
        WM.PutItem(5, iNode2FirstIndex, iNode2FirstIndex, d);
        WM.PutItem(6, iNode3FirstIndex, iNode3FirstIndex, d);

        d = dCollectiveFactor;

        WM.PutItem(7, iNode1FirstIndex, iCollFirstIndex, -d);
        WM.PutItem(8, iNode2FirstIndex, iCollFirstIndex, -d);
        WM.PutItem(9, iNode3FirstIndex, iCollFirstIndex, -d);

        d = dCollectiveFactor*dCyclicFactor;

        WM.PutItem(10, iNode1FirstIndex, iLongFirstIndex, d);

        d /= 2.;

        WM.PutItem(11, iNode2FirstIndex, iLongFirstIndex, -d);
        WM.PutItem(12, iNode3FirstIndex, iLongFirstIndex, -d);

        d *= sqrt(3.);

        WM.PutItem(13, iNode2FirstIndex, iLongFirstIndex, d);
        WM.PutItem(14, iNode3FirstIndex, iLongFirstIndex, -d);

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 188 of file swashpl.cc.

References dCollectiveFactor, dCollMax, dCollMin, dCyclicFactor, dDynamicCoef, DEBUGCOUT, dForeAftMax, dForeAftMin, dLatMax, dLatMin, fCollLimits, fForeAftLimits, fLatLimits, DofOwnerOwner::iGetFirstIndex(), pCollectiveIn, pLateralIn, pLongitudinalIn, pNode1, pNode2, pNode3, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and grad::sqrt().

{
        DEBUGCOUT("Entering SwashPlate::AssRes()" << std::endl);

        /* Dimensiona e resetta la matrice di lavoro */
        WorkVec.ResizeReset(6);

        integer iCollFirstIndex = pCollectiveIn->iGetFirstIndex() + 1;
        integer iLongFirstIndex = pLongitudinalIn->iGetFirstIndex() + 1;
        integer iLatFirstIndex = pLateralIn->iGetFirstIndex() + 1;

        integer iNode1FirstIndex = pNode1->iGetFirstIndex() + 1;
        integer iNode2FirstIndex = pNode2->iGetFirstIndex() + 1;
        integer iNode3FirstIndex = pNode3->iGetFirstIndex() + 1;

        WorkVec.PutRowIndex(1, iCollFirstIndex);
        WorkVec.PutRowIndex(2, iLongFirstIndex);
        WorkVec.PutRowIndex(3, iLatFirstIndex);

        WorkVec.PutRowIndex(4, iNode1FirstIndex);
        WorkVec.PutRowIndex(5, iNode2FirstIndex);
        WorkVec.PutRowIndex(6, iNode3FirstIndex);

        doublereal dXColl = XCurr(iCollFirstIndex);
        doublereal dXLong = XCurr(iLongFirstIndex);
        doublereal dXLat = XCurr(iLatFirstIndex);

        WorkVec.PutCoef(1, -dXColl);
        WorkVec.PutCoef(2, -dXLong);
        WorkVec.PutCoef(3, -dXLat);

        /* Limits on pitch angles */
        if (fCollLimits) {
                if (dXColl > dCollMax) {
                        dXColl = dCollMax;
                } else if (dXColl < dCollMin) {
                        dXColl = dCollMin;
                }
        }

        if (fForeAftLimits) {
                if (dXLong > dForeAftMax) {
                        dXLong = dForeAftMax;
                } else if (dXLong < dForeAftMin) {
                        dXLong = dForeAftMin;
                }
        }

        if (fLatLimits) {
                if (dXLat > dLatMax) {
                        dXLat = dLatMax;
                } else if (dXLat < dLatMin) {
                        dXLat = dLatMin;
                }
        }

        WorkVec.PutCoef(4, dCollectiveFactor*(dXColl - dCyclicFactor*dXLong)
                        - XCurr(iNode1FirstIndex) - dDynamicCoef*XPrimeCurr(iNode1FirstIndex));
        WorkVec.PutCoef(5, dCollectiveFactor*(dXColl + dCyclicFactor*(.5*dXLong - sqrt(3.)/2.*dXLat))
                        - XCurr(iNode2FirstIndex) - dDynamicCoef*XPrimeCurr(iNode2FirstIndex));
        WorkVec.PutCoef(6, dCollectiveFactor*(dXColl + dCyclicFactor*(.5*dXLong + sqrt(3.)/2.*dXLat))
                        - XCurr(iNode3FirstIndex) - dDynamicCoef*XPrimeCurr(iNode3FirstIndex));

        return WorkVec;
}

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

inlinevirtual

Reimplemented from Elem.

Definition at line 129 of file swashpl.h.

References pCollectiveIn, pLateralIn, pLongitudinalIn, pNode1, pNode2, and pNode3.

                                                                                      {
                connectedNodes.resize(6);
                connectedNodes[0] = pCollectiveIn;
                connectedNodes[1] = pLongitudinalIn;
                connectedNodes[2] = pLateralIn;
                connectedNodes[3] = pNode1;
                connectedNodes[4] = pNode2;
                connectedNodes[5] = pNode3;
        };

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

inlinevirtual

Implements Genel.

Definition at line 100 of file swashpl.h.

References Genel::SWASHPLATE.

                                                   {
                return Genel::SWASHPLATE;
        };

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

virtual

Implements Elem.

Definition at line 104 of file swashpl.cc.

References dCollectiveFactor, dCollMax, dCollMin, dCyclicFactor, dDynamicCoef, dForeAftMax, dForeAftMin, dLatMax, dLatMin, fCollLimits, fForeAftLimits, fLatLimits, WithLabel::GetLabel(), pCollectiveIn, pLateralIn, pLongitudinalIn, pNode1, pNode2, pNode3, and Genel::Restart().

{
        Genel::Restart(out) << ", swash plate, "
                << pCollectiveIn->GetLabel() << ", ";
        // Collective.pGetDriveCaller()->Restart(out) << ", ";
        if (fCollLimits) {
                out << "limits, " << dCollMin << ", " << dCollMax << ", ";
        }
        out << pLongitudinalIn->GetLabel() << ", ";
        // Longitudinal.pGetDriveCaller()->Restart(out) << ", ";
        if (fForeAftLimits) {
                out << "limits, " << dForeAftMin << ", " << dForeAftMax << ", ";
        }
        out << pLateralIn->GetLabel() << ", ";
        // Lateral.pGetDriveCaller()->Restart(out) << ", ";
        if (fLatLimits) {
                out << "limits, " << dLatMin << ", " << dLatMax << ", ";
        }
        out << pNode1->GetLabel() << ", "
                << pNode2->GetLabel() << ", "
                << pNode3->GetLabel() << ", "
                << dDynamicCoef << ", "
                << dCyclicFactor << ", " << dCollectiveFactor << ';' << std::endl;

        return out;
}

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void SwashPlate::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 258 of file swashpl.cc.

References NO_OP.

{
        NO_OP;
}

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

inlinevirtual

Implements Elem.

Definition at line 105 of file swashpl.h.

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

Member Data Documentation

doublereal SwashPlate::dCollectiveFactor

protected

Definition at line 58 of file swashpl.h.

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

doublereal SwashPlate::dCollMax

protected

Definition at line 61 of file swashpl.h.

Referenced by AssRes(), and Restart().

doublereal SwashPlate::dCollMin

protected

Definition at line 62 of file swashpl.h.

Referenced by AssRes(), and Restart().

doublereal SwashPlate::dCyclicFactor

protected

Definition at line 57 of file swashpl.h.

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

doublereal SwashPlate::dDynamicCoef

protected

Definition at line 56 of file swashpl.h.

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

doublereal SwashPlate::dForeAftMax

protected

Definition at line 65 of file swashpl.h.

Referenced by AssRes(), and Restart().

doublereal SwashPlate::dForeAftMin

protected

Definition at line 66 of file swashpl.h.

Referenced by AssRes(), and Restart().

doublereal SwashPlate::dLatMax

protected

Definition at line 69 of file swashpl.h.

Referenced by AssRes(), and Restart().

doublereal SwashPlate::dLatMin

protected

Definition at line 70 of file swashpl.h.

Referenced by AssRes(), and Restart().

flag SwashPlate::fCollLimits

protected

Definition at line 60 of file swashpl.h.

Referenced by AssRes(), and Restart().

flag SwashPlate::fForeAftLimits

protected

Definition at line 64 of file swashpl.h.

Referenced by AssRes(), and Restart().

flag SwashPlate::fLatLimits

protected

Definition at line 68 of file swashpl.h.

Referenced by AssRes(), and Restart().

const ScalarDifferentialNode* SwashPlate::pCollectiveIn

protected

Definition at line 45 of file swashpl.h.

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

const ScalarDifferentialNode* SwashPlate::pLateralIn

protected

Definition at line 49 of file swashpl.h.

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

const ScalarDifferentialNode* SwashPlate::pLongitudinalIn

protected

Definition at line 47 of file swashpl.h.

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

const ScalarDifferentialNode* SwashPlate::pNode1

protected

Definition at line 52 of file swashpl.h.

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

const ScalarDifferentialNode* SwashPlate::pNode2

protected

Definition at line 53 of file swashpl.h.

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

const ScalarDifferentialNode* SwashPlate::pNode3

protected

Definition at line 54 of file swashpl.h.

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

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

• swashpl.h
• swashpl.cc