#include <vehj3.h>

Inheritance diagram for ViscoElasticJoint:

Collaboration diagram for ViscoElasticJoint:

Public Member Functions
	ViscoElasticJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw6D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1, const Mat3x3 &tilde_R2, const OrientationDescription &od, flag fOut)

	~ViscoElasticJoint (void)

virtual ConstLawType::Type	GetConstLawType (void) const

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

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

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual void	ReadInitialState (MBDynParser &HP)

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

virtual	~ToBeOutput (void)

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 DeformableJoint
	DeformableJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw6D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &tilde_f1, const Vec3 &tilde_f2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)

virtual	~DeformableJoint (void)

virtual Joint::Type	GetJointType (void) const

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

void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

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

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

virtual bool	bInverseDynamics (void) const

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

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

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

virtual 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)

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

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

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	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)

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (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 std::ostream &	OutputAppend (std::ostream &out) const

Protected Member Functions
void	AssMats (FullSubMatrixHandler &WorkMatA, FullSubMatrixHandler &WorkMatB, doublereal dCoef)

void	AssVec (SubVectorHandler &WorkVec)

Protected Member Functions inherited from DeformableJoint
void	AssMatCommon (FullSubMatrixHandler &WM, doublereal dCoef)

void	AssMatElastic (FullSubMatrixHandler &WM, doublereal dCoef, const Mat6x6 &FDE)

void	AssMatViscous (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef, const Mat6x6 &FDEPrime)

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
Vec3	ThetaRef

Mat6x6	FDE

Mat6x6	FDEPrime

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from DeformableJoint
const StructNode *	pNode1

const StructNode *	pNode2

Vec3	tilde_f1

Vec3	tilde_f2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

OrientationDescription	od

Vec6	tilde_k

Vec6	tilde_kPrime

bool	bFirstRes

Vec3	d1

Vec3	d2

Vec3	d1Prime

Vec3	d2Prime

Mat3x3	R1h

Vec6	F

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

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 }

Detailed Description

Definition at line 490 of file vehj3.h.

Constructor & Destructor Documentation

ViscoElasticJoint::ViscoElasticJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw6D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	tilde_f1,
		const Vec3 &	tilde_f2,
		const Mat3x3 &	tilde_R1,
		const Mat3x3 &	tilde_R2,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 1331 of file vehj3.cc.

References FDE, FDEPrime, ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), MultRMRt(), and DeformableJoint::R1h.

 : Elem(uL, fOut),
 DeformableJoint(uL, pDO, pCL, pN1, pN2, tilde_f1, tilde_f2, tilde_R1h, tilde_R2h, od, fOut),
 ThetaRef(Zero3)
 {
         /*
          * Chiede la matrice tangente di riferimento
          * e la porta nel sistema globale
          */
         FDE = MultRMRt(ConstitutiveLaw6DOwner::GetFDE(), R1h);
         FDEPrime = MultRMRt(ConstitutiveLaw6DOwner::GetFDEPrime(), R1h);
 }

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ViscoElasticJoint::~ViscoElasticJoint ( void )

Definition at line 1354 of file vehj3.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void ViscoElasticJoint::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 1360 of file vehj3.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), DeformableJoint::tilde_k, and DeformableJoint::tilde_kPrime.

 {
         ConstitutiveLaw6DOwner::AfterConvergence(tilde_k, tilde_kPrime);
 }

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void ViscoElasticJoint::AfterPredict	(	VectorHandler &	X,
		VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 1410 of file vehj3.cc.

References DeformableJoint::bFirstRes, Vec3::Cross(), DeformableJoint::d1, DeformableJoint::d1Prime, DeformableJoint::d2, DeformableJoint::d2Prime, RotManip::DRot_I(), FDE, FDEPrime, ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), StructNode::GetRCurr(), StructNode::GetRRef(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), Mat3x3::MulTM(), MultRMRt(), MultRMRtGammam1(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, ThetaRef, DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_kPrime, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

 {
         /* Calcola le deformazioni, aggiorna il legame costitutivo
          * e crea la FDE */
 
         /* Recupera i dati */
         R1h = pNode1->GetRRef()*tilde_R1h;
 
         d2 = pNode2->GetRCurr()*tilde_f2;
         d1 = pNode2->GetXCurr() + d2 - pNode1->GetXCurr();
 
         d2Prime = pNode2->GetWCurr().Cross(d2);
         d1Prime = pNode2->GetVCurr() + d2Prime - pNode1->GetVCurr();
 
         /* Calcola la deformazione corrente nel sistema locale (nodo a) */
         ThetaRef = RotManip::VecRot(R1h.MulTM(pNode2->GetRRef()*tilde_R2h));
 
         /* Calcola l'inversa di Gamma di ThetaRef */
         Mat3x3 GammaRefm1 = RotManip::DRot_I(ThetaRef);
 
         Vec3 f1(pNode1->GetRRef()*tilde_f1);
 
         tilde_k = Vec6(R1h.MulTV(d1 - f1), ThetaRef);
 
         tilde_kPrime = Vec6(R1h.MulTV(d1Prime - pNode1->GetWCurr().Cross(d1)),
                 R1h.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr()));
 
         ConstitutiveLaw6DOwner::Update(tilde_k, tilde_kPrime);
 
         /* Chiede la matrice tangente di riferimento e la porta
          * nel sistema globale */
         FDE = ConstitutiveLaw6DOwner::GetFDE();
         MultRMRtGammam1(FDE, R1h, GammaRefm1);
 
         /* FIXME: we need to be able to regenerate FDE
          * if the constitutive law throws ChangedEquationStructure */
         FDEPrime = MultRMRt(ConstitutiveLaw6DOwner::GetFDEPrime(), R1h);
 
         bFirstRes = true;
 }

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void ViscoElasticJoint::AssMats	(	FullSubMatrixHandler &	WorkMatA,
		FullSubMatrixHandler &	WorkMatB,
		doublereal	dCoef
	)

protectedvirtual

Implements DeformableJoint.

Definition at line 1367 of file vehj3.cc.

References DeformableJoint::AssMatCommon(), DeformableJoint::AssMatElastic(), DeformableJoint::AssMatViscous(), FDE, and FDEPrime.

Referenced by InitialAssJac().

 {
         AssMatCommon(WMA, dCoef);
         AssMatElastic(WMA, dCoef, FDE);
         AssMatViscous(WMA, WMB, dCoef, FDEPrime);
 }

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void ViscoElasticJoint::AssVec ( SubVectorHandler & WorkVec )

protectedvirtual

Implements DeformableJoint.

Definition at line 1376 of file vehj3.cc.

References VectorHandler::Add(), DeformableJoint::bFirstRes, Vec3::Cross(), DeformableJoint::d1, DeformableJoint::d1Prime, DeformableJoint::d2, DeformableJoint::d2Prime, DeformableJoint::F, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), Vec6::GetVec1(), Vec6::GetVec2(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), Mat3x3::MulTM(), MultRV(), Mat3x3::MulTV(), DeformableJoint::pNode1, DeformableJoint::pNode2, DeformableJoint::R1h, VectorHandler::Sub(), DeformableJoint::tilde_f1, DeformableJoint::tilde_f2, DeformableJoint::tilde_k, DeformableJoint::tilde_kPrime, DeformableJoint::tilde_R1h, DeformableJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

 {
         if (bFirstRes) {
                 bFirstRes = false;
 
         } else {
                 R1h = pNode1->GetRCurr()*tilde_R1h;
 
                 d2 = pNode2->GetRCurr()*tilde_f2;
                 d1 = pNode2->GetXCurr() + d2 - pNode1->GetXCurr();
 
                 d2Prime = pNode2->GetWCurr().Cross(d2);
                 d1Prime = pNode2->GetVCurr() + d2Prime - pNode1->GetVCurr();
 
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Vec3 f1(pNode1->GetRCurr()*tilde_f1);
 
                 tilde_k = Vec6(R1h.MulTV(d1 - f1), RotManip::VecRot(R1h.MulTM(R2h)));
 
                 tilde_kPrime = Vec6(R1h.MulTV(d1Prime - pNode1->GetWCurr().Cross(d1)),
                         R1h.MulTV(pNode2->GetWCurr() - pNode1->GetWCurr()));
 
                 ConstitutiveLaw6DOwner::Update(tilde_k, tilde_kPrime);
         }
 
         F = MultRV(ConstitutiveLaw6DOwner::GetF(), R1h);
 
         WorkVec.Add(1, F.GetVec1());
         WorkVec.Add(4, d1.Cross(F.GetVec1()) + F.GetVec2());
         WorkVec.Sub(6 + 1, F.GetVec1());
         WorkVec.Sub(6 + 4, d2.Cross(F.GetVec1()) + F.GetVec2());
 }

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virtual ConstLawType::Type ViscoElasticJoint::GetConstLawType ( void ) const

inlinevirtual

Implements DeformableJoint.

Definition at line 519 of file vehj3.h.

References ConstLawType::VISCOELASTIC.

                                                              {
                 return ConstLawType::VISCOELASTIC;
         };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 1455 of file vehj3.cc.

References AssMats(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableJoint::pNode1, DeformableJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMats(WM, WM, 1.);
 
         return WorkMat;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 531 of file vehj3.h.

Referenced by InitialAssJac().

                                                                           {
                 *piNumRows = 12;
                 *piNumCols = 12;
         };

Member Data Documentation

Mat6x6 ViscoElasticJoint::FDE

protected

Definition at line 495 of file vehj3.h.

Referenced by AfterPredict(), AssMats(), and ViscoElasticJoint().

Mat6x6 ViscoElasticJoint::FDEPrime

protected

Definition at line 496 of file vehj3.h.

Referenced by AfterPredict(), AssMats(), and ViscoElasticJoint().

Vec3 ViscoElasticJoint::ThetaRef

protected

Definition at line 493 of file vehj3.h.

Referenced by AfterPredict().

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