#include <univj.h>

Inheritance diagram for UniversalPinJoint:

Collaboration diagram for UniversalPinJoint:

Public Member Functions
	UniversalPinJoint (unsigned int uL, const DofOwner pDO, const StructNode pN, const Vec3 &X0Tmp, const Mat3x3 &R0Tmp, const Vec3 &dTmp, const Mat3x3 &RhTmp, flag fOut)

	~UniversalPinJoint (void)

virtual Joint::Type	GetJointType (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	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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	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 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)

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

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)

Private Attributes
const StructNode *	pNode

Vec3	X0

Mat3x3	R0

Vec3	d

Mat3x3	Rh

Vec3	F

doublereal	dM

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 }

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 inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 242 of file univj.h.

Constructor & Destructor Documentation

UniversalPinJoint::UniversalPinJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const StructNode *	pN,
		const Vec3 &	X0Tmp,
		const Mat3x3 &	R0Tmp,
		const Vec3 &	dTmp,
		const Mat3x3 &	RhTmp,
		flag	fOut
	)

Definition at line 1116 of file univj.cc.

References NO_OP.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 pNode(pN),
 X0(X0Tmp), R0(R0Tmp), d(dTmp), Rh(RhTmp), F(Zero3), dM(0.)
 {
         NO_OP;
 }

UniversalPinJoint::~UniversalPinJoint ( void )

Definition at line 1131 of file univj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 1159 of file univj.cc.

References FullSubMatrixHandler::Add(), d, DEBUGCOUT, dM, F, StructNode::GetRRef(), Mat3x3::GetVec(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, pNode, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, R0, FullSubMatrixHandler::ResizeReset(), Rh, VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), and WorkSpaceDim().

 {
         DEBUGCOUT("Entering UniversalPinJoint::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);
 
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 4; iCnt++) {
                 WM.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         const Mat3x3& R(pNode->GetRRef());
         Vec3 dTmp(R*d);
 
         /* termini di reazione sul nodo (forza e momento) */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(iCnt, 6 + iCnt, -1.);
         }
 
         WM.Sub(4, 7, Mat3x3(MatCross, dTmp));
 
         /* Note: F and dM updated by AssRes */
         Vec3 e3(R0.GetVec(3));
         Vec3 e2(R*Rh.GetVec(2));
         Vec3 MTmp(e2*(dM*dCoef));
         Vec3 FTmp(F*dCoef);
 
         Mat3x3 e3aWedgeMWedge(MatCrossCross, e3, MTmp);
 
         WM.Sub(4, 4, Mat3x3(MatCrossCross, FTmp, dTmp) + e3aWedgeMWedge);
 
         Vec3 Tmp(e2.Cross(e3));
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = Tmp(iCnt);
                 WM.PutCoef(3 + iCnt, 10, -d);
         }
 
         /* Modifica: divido le equazioni di vincolo per dCoef */
 
         /* termini di vincolo dovuti al nodo 1 */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 // position, delta x
                 WM.PutCoef(6 + iCnt, iCnt, -1.);
 
                 // orientation, delta g
                 doublereal d = Tmp(iCnt);
                 WM.PutCoef(6 + 3 + 1, 3 + iCnt, -d);
         }
 
         // position, delta g
         WM.Add(6 + 1, 3 + 1, Mat3x3(MatCross, dTmp));
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 1235 of file univj.cc.

References VectorHandler::Add(), ASSERT, d, DEBUGCOUT, dM, F, StructNode::GetRCurr(), Mat3x3::GetVec(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R, R0, VectorHandler::ResizeReset(), Rh, WorkSpaceDim(), and X0.

 {
         DEBUGCOUT("Entering UniversalPinJoint::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
         integer iFirstReactionIndex = iGetFirstIndex();
 
         /* Indici dei nodi */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
         }
 
         /* Indici del vincolo */
         for (int iCnt = 1; iCnt <= 4; iCnt++) {
                 WorkVec.PutRowIndex(6 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         dM = XCurr(iFirstReactionIndex + 4);
 
         const Vec3& x(pNode->GetXCurr());
         const Mat3x3& R(pNode->GetRCurr());
 
         Vec3 dTmp(R*d);
 
         Vec3 e3(R0.GetVec(3));
         Vec3 e2(R*Rh.GetVec(2));
 
         WorkVec.Add(1, F);
         WorkVec.Add(4, dTmp.Cross(F) + e2.Cross(e3)*dM);
 
         /* Modifica: divido le equazioni di vincolo per dCoef */
         ASSERT(dCoef != 0.);
         WorkVec.Add(7, (x + dTmp - X0)/dCoef);
 
         WorkVec.PutCoef(10, e3.Dot(e2)/dCoef);
 
         return WorkVec;
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 323 of file univj.h.

References pNode.

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

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

inlinevirtual

Reimplemented from Elem.

Definition at line 274 of file univj.h.

References DofOrder::ALGEBRAIC, and ASSERT.

                                          {
                 ASSERT(i >= 0 && i < 4);
                 return DofOrder::ALGEBRAIC;
         };

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

inlinevirtual

Implements Joint.

Definition at line 262 of file univj.h.

References Joint::UNIVERSALPIN.

                                                    {
                 return Joint::UNIVERSALPIN;
         };

virtual unsigned int UniversalPinJoint::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 300 of file univj.h.

                                                            {
                 return 8;
         };

virtual unsigned int UniversalPinJoint::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from Elem.

Definition at line 269 of file univj.h.

                                                     {
                 return 4;
         };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1302 of file univj.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), d, DEBUGCOUT, dM, F, WithLabel::GetLabel(), StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), MatCross, MatCrossCross, MBDYN_EXCEPT_ARGS, pNode, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, R0, FullSubMatrixHandler::ResizeReset(), Rh, and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUT("Entering UniversalPinJoint::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);
 
         /* Equazioni: vedi joints.dvi */
 
         /* Indici */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstVelocityIndex = iFirstPositionIndex + 6;
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + 4;
 
         /* Setto gli indici */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WM.PutColIndex(iCnt, iFirstPositionIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iFirstVelocityIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iFirstVelocityIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 8; iCnt++) {
                 WM.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         /* Recupera i dati */
         const Mat3x3& R(pNode->GetRRef());
         const Vec3& Omega(pNode->GetWRef());
         /* F, M sono state aggiornate da InitialAssRes */
         Vec3 FPrime(XCurr, iReactionPrimeIndex + 1);
         doublereal dMPrime(XCurr(iReactionPrimeIndex + 4));
 
         /* Matrici identita' */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 /* Contributo di forza all'equazione della forza */
                 WM.PutCoef(iCnt, 12 + iCnt, 1.);
 
                 /* Contrib. di der. di forza all'eq. della der. della forza */
                 WM.PutCoef(6 + iCnt, 16 + iCnt, 1.);
 
                 /* Equazione di vincolo */
                 WM.PutCoef(12 + iCnt, iCnt, -1.);
 
                 /* Derivata dell'equazione di vincolo */
                 WM.PutCoef(16 + iCnt, 6 + iCnt, -1.);
         }
 
         /* Distanza nel sistema globale */
         Vec3 dTmp(R*d);
 
         Vec3 e3(R0.GetVec(3));
         Vec3 e2(R*Rh.GetVec(2));
 
         /* Vettori temporanei */
         Vec3 Tmp(e2.Cross(e3));
 
         /* Prodotto vettore tra il versore 3 della cerniera secondo il nodo 1
          * ed il versore 1 della cerniera secondo il nodo 2. A convergenza
          * devono essere ortogonali, quindi il loro prodotto vettore deve essere
          * unitario */
 
         /* Error handling: il programma si ferma, pero' segnala dov'e' l'errore */
         if (Tmp.Dot() < std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("CardanoPinJoint(" << GetLabel() << "): "
                         "node and fixed point hinge axes are (nearly) orthogonal"
                         << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         Vec3 TmpPrime(e3.Cross(e2.Cross(Omega)));
 
         /* Ruota il momento e la sua derivata con le matrici della cerniera
          * rispetto ai nodi */
         Vec3 MTmp(e2*dM);
         Vec3 MPrimeTmp(e2*dMPrime);
 
         Mat3x3 MDeltag(Mat3x3(MatCrossCross, e3, MPrimeTmp) + e3.Cross(Mat3x3(MatCrossCross, Omega, MTmp)));
 
         /* Matrici F/\d/\ */
         Mat3x3 FWedgedWedge(MatCrossCross, F, dTmp);
 
         /* Matrici (omega/\d)/\ */
         Mat3x3 OWedgedWedge(MatCross, Omega.Cross(dTmp));
 
         /* Equazione di momento */
         WM.Add(4, 4, FWedgedWedge + Mat3x3(MatCrossCross, e3, MTmp));
         WM.Add(4, 13, Mat3x3(MatCross, dTmp));
 
         /* Derivata dell'equazione di momento */
         WM.Add(10, 4, (Mat3x3(MatCross, FPrime) + Mat3x3(MatCrossCross, F, Omega))*Mat3x3(MatCross, dTmp) + MDeltag);
         WM.Add(10, 10, FWedgedWedge + Mat3x3(MatCrossCross, e3, MTmp));
         WM.Add(10, 13, OWedgedWedge);
         WM.Add(10, 17, Mat3x3(MatCross, dTmp));
 
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = Tmp(iCnt);
                 WM.PutCoef(3 + iCnt, 16, d);
                 WM.PutCoef(9 + iCnt, 20, d);
 
                 WM.PutCoef(9 + iCnt, 16, TmpPrime(iCnt));
         }
 
         /* Equazione di vincolo */
         WM.Add(13, 4, Mat3x3(MatCross, dTmp));
 
         /* Derivata dell'equazione di vincolo */
         WM.Add(17, 4, OWedgedWedge);
         WM.Add(17, 10, Mat3x3(MatCross, dTmp));
 
         /* Equazioni di vincolo di rotazione: e2b~e3a */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 doublereal d = -Tmp(iCnt);
                 WM.PutCoef(16, 3 + iCnt, d);
 
                 /* Queste sono per la derivata dell'equazione, sono qui solo per
                  * ottimizzazione */
                 WM.PutCoef(20, 9 + iCnt, d);
         }
 
         /* Derivate delle equazioni di vincolo di rotazione: e2b~e3a */
         TmpPrime = e2.Cross(Omega.Cross(e3));
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutCoef(20, 3 + iCnt, TmpPrime(iCnt));
         }
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1442 of file univj.cc.

References VectorHandler::Add(), Vec3::Cross(), d, DEBUGCOUT, dM, F, StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R, R0, VectorHandler::ResizeReset(), Rh, VectorHandler::Sub(), and X0.

 {
         DEBUGCOUT("Entering UniversalPinJoint::InitialAssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
         integer iFirstVelocityIndex = iFirstPositionIndex + 6;
         integer iFirstReactionIndex = iGetFirstIndex();
         integer iReactionPrimeIndex = iFirstReactionIndex + 4;
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iFirstVelocityIndex + iCnt);
         }
 
         for (int iCnt = 1; iCnt <= 8; iCnt++) {
                 WorkVec.PutRowIndex(12 + iCnt, iFirstReactionIndex + iCnt);
         }
 
         /* Recupera i dati */
         const Vec3& x(pNode->GetXCurr());
         const Vec3& v(pNode->GetVCurr());
         const Mat3x3& R(pNode->GetRCurr());
         const Vec3& Omega(pNode->GetWCurr());
 
         F = Vec3(XCurr, iFirstReactionIndex + 1);
         dM = XCurr(iFirstReactionIndex + 4);
         Vec3 FPrime(XCurr, iReactionPrimeIndex + 1);
         doublereal dMPrime(XCurr(iReactionPrimeIndex + 4));
 
         /* Versori delle cerniere */
         Vec3 e3(R0.GetVec(3));
         Vec3 e2(R*Rh.GetVec(2));
 
         /* Vettori temporanei */
         Vec3 Tmp(e2.Cross(e3));
 
         Vec3 TmpPrime(e3.Cross(e2.Cross(Omega)));
 
         /* Distanza nel sistema globale */
         Vec3 dTmp(R*d);
 
         /* Vettori omega/\d */
         Vec3 OWedged(Omega.Cross(dTmp));
 
         /* Ruota il momento e la sua derivata con le matrici della cerniera
          * rispetto ai nodi */
         Vec3 MTmp(e2*dM);
         Vec3 MPrimeTmp(e3.Cross(MTmp.Cross(Omega)) + e2.Cross(e3)*dMPrime);
 
         /* Equazioni di equilibrio */
         WorkVec.Sub(1, F);
         WorkVec.Sub(4, dTmp.Cross(F) - MTmp.Cross(e3));
 
         /* Derivate delle equazioni di equilibrio, nodo 1 */
         WorkVec.Sub(7, FPrime);
         WorkVec.Sub(10, dTmp.Cross(FPrime) + OWedged.Cross(F) + MPrimeTmp);
 
         /* Equazione di vincolo di posizione */
         WorkVec.Add(13, x + dTmp - X0);
 
         /* Equazioni di vincolo di rotazione */
         WorkVec.PutCoef(16, e2*e3);
 
         /* Derivata dell'equazione di vincolo di posizione */
         WorkVec.Add(17, v + OWedged);
 
         /* Derivate delle equazioni di vincolo di rotazione: e2b~e3a */
         Tmp = e3.Cross(Omega);
         WorkVec.PutCoef(20, e2*Tmp);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 304 of file univj.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 20;
                 *piNumCols = 20;
         };

void UniversalPinJoint::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 1286 of file univj.cc.

References ToBeOutput::bToBeOutput(), dM, dRaDegr, F, WithLabel::GetLabel(), StructNode::GetRCurr(), Mat3x3::GetVec(), OutputHandler::Joints(), MatR2EulerAngles(), Joint::Output(), pNode, R0, Rh, and Mat3x3::Transpose().

 {
         if (bToBeOutput()) {
                 Mat3x3 RTmp(pNode->GetRCurr()*Rh);
                 Vec3 vTmp(RTmp.GetVec(2).Cross(R0.GetVec(3)));
 
                 Joint::Output(OH.Joints(), "CardanoPin", GetLabel(),
                         RTmp.MulTV(F), Vec3(dM, 0., 0.), F, vTmp*dM)
                         << " " << MatR2EulerAngles(R0.Transpose()*RTmp)*dRaDegr
                         << std::endl;
         }
 }

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

virtual

Implements Elem.

Definition at line 1139 of file univj.cc.

References d, WithLabel::GetLabel(), Mat3x3::GetVec(), pNode, R0, Joint::Restart(), Rh, Write(), Vec3::Write(), and X0.

 {
         Joint::Restart(out) << ", universal pin, "
                 << pNode->GetLabel() << ", "
                 "reference, node, ", d.Write(out, ", ") << ", "
                 "hinge, reference, node, "
                         "1, ", (Rh.GetVec(1)).Write(out, ", ") << ", "
                         "2, ", (Rh.GetVec(2)).Write(out, ", ") << ", "
                 "reference, global, ", X0.Write(out, ", ") << ", "
                 "reference, global, "
                         "1, ", (R0.GetVec(1)).Write(out, ", ") << ", "
                         "2, ", (R0.GetVec(2)).Write(out, ", ") << ';'
                 << std::endl;
 
         return out;
 }

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

inlinevirtual

Implements Elem.

Definition at line 280 of file univj.h.

Referenced by AssJac(), and AssRes().

                                                                    {
                 *piNumRows = 10;
                 *piNumCols = 10;
         };

Member Data Documentation

Vec3 UniversalPinJoint::d

private

Definition at line 247 of file univj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Restart().

doublereal UniversalPinJoint::dM

private

Definition at line 250 of file univj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

Vec3 UniversalPinJoint::F

private

Definition at line 249 of file univj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), and Output().

const StructNode* UniversalPinJoint::pNode

private

Definition at line 244 of file univj.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

Mat3x3 UniversalPinJoint::R0

private

Definition at line 246 of file univj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

Mat3x3 UniversalPinJoint::Rh

private

Definition at line 248 of file univj.h.

Referenced by AssJac(), AssRes(), InitialAssJac(), InitialAssRes(), Output(), and Restart().

Vec3 UniversalPinJoint::X0

private

Definition at line 245 of file univj.h.

Referenced by AssRes(), InitialAssRes(), and Restart().

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