Wheel2 Class Reference

Inheritance diagram for Wheel2:

Collaboration diagram for Wheel2:

Public Member Functions
	Wheel2 (unsigned uLabel, const DofOwner *pDO, DataManager *pDM, MBDynParser &HP)
virtual	~Wheel2 (void)
virtual void	Output (OutputHandler &OH) 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)
unsigned int	iGetNumPrivData (void) const
int	iGetNumConnectedNodes (void) const
void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph)
std::ostream &	Restart (std::ostream &out) 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)
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 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	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 UserDefinedElem
	UserDefinedElem (unsigned uLabel, const DofOwner *pDO)
virtual	~UserDefinedElem (void)
bool	NeedsAirProperties (void) const
void	NeedsAirProperties (bool yesno)
virtual Elem::Type	GetElemType (void) const
virtual AerodynamicElem::Type	GetAerodynamicElemType (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 AerodynamicElem
	AerodynamicElem (unsigned int uL, const DofOwner *pDO, flag fOut)
virtual	~AerodynamicElem (void)
virtual const InducedVelocity *	pGetInducedVelocity (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)
Public Member Functions inherited from AirPropOwner
	AirPropOwner (void)
virtual	~AirPropOwner (void)
virtual void	PutAirProperties (const AirProperties *pAP)
virtual flag	fGetAirVelocity (Vec3 &Velocity, const Vec3 &X) const
virtual doublereal	dGetAirDensity (const Vec3 &X) const
virtual doublereal	dGetAirPressure (const Vec3 &X) const
virtual doublereal	dGetAirTemperature (const Vec3 &X) const
virtual doublereal	dGetSoundSpeed (const Vec3 &X) const
virtual bool	GetAirProps (const Vec3 &X, doublereal &rho, doublereal &c, doublereal &p, doublereal &T) 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

Private Attributes
const StructNode *	pWheel
Vec3	WheelAxle
const StructNode *	pGround
Vec3	GroundPosition
Vec3	GroundDirection
doublereal	dRadius
doublereal	dInternalRadius
doublereal	dVolCoef
doublereal	dRefArea
doublereal	dRNP
doublereal	dV0
doublereal	dP0
doublereal	dGamma
doublereal	dHystVRef
bool	bSlip
const DriveCaller *	pMuX0
const DriveCaller *	pMuY0
const DriveCaller *	pMuY1
doublereal	dvThreshold
Vec3	F
Vec3	M
doublereal	dInstRadius
doublereal	dDeltaL
doublereal	dVn
doublereal	dSr
doublereal	dAlpha
doublereal	dAlphaThreshold
doublereal	dMuX
doublereal	dMuY
doublereal	dVa
doublereal	dVc

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 AerodynamicElem
enum	Type {   UNKNOWN = -1, INDUCEDVELOCITY = 0, AEROMODAL, AERODYNAMICBODY,   AERODYNAMICBEAM, AERODYNAMICEXTERNAL, AERODYNAMICEXTERNALMODAL, AERODYNAMICLOADABLE,   AIRCRAFTINSTRUMENTS, GENERICFORCE, LASTAEROTYPE }
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 UserDefinedElem
bool	needsAirProperties
Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties
Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Detailed Description

Definition at line 44 of file module-wheel2.cc.

Constructor & Destructor Documentation

Wheel2::Wheel2	(	unsigned	uLabel,
		const DofOwner *	pDO,
		DataManager *	pDM,
		MBDynParser &	HP
	)

Definition at line 130 of file module-wheel2.cc.

References bSlip, dAlphaThreshold, dGamma, dHystVRef, dInternalRadius, Vec3::Dot(), dP0, dRadius, dRefArea, dRNP, dV0, dVolCoef, dvThreshold, DataManager::fReadOutput(), MBDynParser::GetDriveCaller(), WithLabel::GetLabel(), IncludeParser::GetLineData(), DataManager::GetLogFile(), MBDynParser::GetPosRel(), HighParser::GetReal(), MBDynParser::GetVecRel(), GroundDirection, GroundPosition, HighParser::IsArg(), HighParser::IsKeyWord(), Elem::LOADABLE, M_PI, MBDYN_EXCEPT_ARGS, pGround, pMuX0, pMuY0, pMuY1, pWheel, DataManager::ReadNode(), ToBeOutput::SetOutputFlag(), grad::sqrt(), Node::STRUCTURAL, and WheelAxle.

: Elem(uLabel, flag(0)),
UserDefinedElem(uLabel, pDO)
{
        // help
        if (HP.IsKeyWord("help")) {
                silent_cout(
"                                                                       \n"
"Module:        wheel2                                                  \n"
"Author:        Stefania Gualdi <gualdi@aero.polimi.it>                 \n"
"               Pierangelo Masarati <masarati@aero.polimi.it>           \n"
"Organization:  Dipartimento di Ingegneria Aerospaziale                 \n"
"               Politecnico di Milano                                   \n"
"               http://www.aero.polimi.it                               \n"
"                                                                       \n"
"       All rights reserved                                             \n"
"                                                                       \n"
"Connects 2 structural nodes:                                           \n"
"     - Wheel                                                           \n"
"     - Ground                                                          \n"
"                                                                       \n"
"Note:                                                                  \n"
"     - The Axle and the Wheel structural nodes must be connected       \n"
"       by a joint that allows relative rotations only about            \n"
"       one axis (the axle)                                             \n"
"     - The center of the wheel is assumed coincident with              \n"
"       the position of the wheel structural node                       \n"
"     - The Ground structural node supports a plane defined             \n"
"       a point and a direction orthogonal to the plane (future         \n"
"       versions might use an arbitrary, deformable surface)            \n"
"     - The forces are applied at the \"contact point\", that           \n"
"       is defined according to geometrical properties                  \n"
"       of the system and according to the relative position            \n"
"       and orientation of the Wheel and Ground structural nodes        \n"
"                                                                       \n"
"     - Input:                                                          \n"
"               <wheel structural node label> ,                         \n"
"               <wheel axle direction> ,                                \n"
"               <ground structural node label> ,                        \n"
"               <reference point position of the ground plane> ,        \n"
"               <direction orthogonal to the ground plane> ,            \n"
"               <wheel radius> ,                                        \n"
"               <torus radius> ,                                        \n"
"               <volume coefficient (black magic?)> ,                   \n"
"               <tire pressure> ,                                       \n"
"               <tire polytropic exponent> ,                            \n"
"               <reference velocity for tire hysteresis>                \n"
"               [ slip ,                                                \n"
"               <longitudinal friction coefficient drive>               \n"
"               <lateral friction coefficient drive for s.r.=0>         \n"
"               <lateral friction coefficient drive for s.r.=1>         \n"
"               [ , threshold , <slip ratio velocity threshold> ,       \n"
"                       <slip angle velocity threshold> ] ]             \n"
"                                                                       \n"
"     - Output:                                                         \n"
"               1)      element label                                   \n"
"               2-4)    tire force in global reference frame            \n"
"               5-7)    tire couple in global reference frame           \n"
"               8)      effective radius                                \n"
"               9)      tire radial deformation                         \n"
"               10)     tire radial deformation velocity                \n"
"               11)     slip ratio                                      \n"
"               12)     slip angle                                      \n"
"               13)     longitudinal friction coefficient               \n"
"               14)     lateral friction coefficient                    \n"
"               15)     axis relative tangential velocity               \n"
"               16)     point of contact relative tangential velocity   \n"
                        << std::endl);

                if (!HP.IsArg()) {
                        /*
                         * Exit quietly if nothing else is provided
                         */
                        throw NoErr(MBDYN_EXCEPT_ARGS);
                }
        }

        // read wheel node
        pWheel = dynamic_cast<const StructNode *>(pDM->ReadNode(HP, Node::STRUCTURAL));

        // read wheel axle
        ReferenceFrame RF = ReferenceFrame(pWheel);
        WheelAxle = HP.GetVecRel(RF);

        // read ground node
        pGround = dynamic_cast<const StructNode *>(pDM->ReadNode(HP, Node::STRUCTURAL));

        // read ground position/orientation
        RF = ReferenceFrame(pGround);
        GroundPosition = HP.GetPosRel(RF);
        GroundDirection = HP.GetVecRel(RF);

        // normalize ground orientation
        doublereal d = GroundDirection.Dot();
        if (d <= std::numeric_limits<doublereal>::epsilon()) {
                silent_cerr("Wheel2(" << uLabel << "): "
                        "null direction at line " << HP.GetLineData()
                        << std::endl);
                throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
        }
        GroundDirection /= sqrt(d);

        // wheel geometry
        dRadius = HP.GetReal();
        dInternalRadius = HP.GetReal();
        dVolCoef = HP.GetReal();

        // reference area
        dRefArea = 3.7*dInternalRadius*std::sqrt(dInternalRadius*(2.*dRadius - dInternalRadius));

        // parameter required to compute Delta L
        dRNP = dRadius + GroundPosition*GroundDirection;

        // reference volume
        dV0 = 2.*M_PI*(dRadius - dInternalRadius)
                *M_PI*dInternalRadius*dInternalRadius*dVolCoef;

        // tyre properties
        dP0 = HP.GetReal();
        dGamma = HP.GetReal();
        dHystVRef = HP.GetReal();

        // friction
        bSlip = false;
        if (HP.IsKeyWord("slip")) {
                bSlip = true;

                /*
                 * Parametri di attrito
                 */
                pMuX0 = HP.GetDriveCaller();
                pMuY0 = HP.GetDriveCaller();
                pMuY1 = HP.GetDriveCaller();
        
                dvThreshold = 0.;
                dAlphaThreshold = 0.;
                if (HP.IsKeyWord("threshold")) {
                        dvThreshold = HP.GetReal();
                        if (dvThreshold < 0.) {
                                silent_cerr("Wheel2(" << uLabel << "): "
                                        "illegal velocity threshold " << dvThreshold
                                        << " at line " << HP.GetLineData() << std::endl);
                                dvThreshold = std::abs(dvThreshold);
                        }

                        dAlphaThreshold = HP.GetReal();
                        if (dvThreshold < 0.) {
                                silent_cerr("Wheel2(" << uLabel << "): "
                                        "illegal slip angle threshold " << dAlphaThreshold
                                        << " at line " << HP.GetLineData() << std::endl);
                                dAlphaThreshold = std::abs(dAlphaThreshold);
                        }
                }
        }

        SetOutputFlag(pDM->fReadOutput(HP, Elem::LOADABLE));
        
        std::ostream& out = pDM->GetLogFile();
        out << "wheel2: " << uLabel
                << " " << pWheel->GetLabel()    //node label
                << " " << WheelAxle             //wheel axle
                << " " << pGround->GetLabel()   //ground label
                << " " << GroundDirection       //ground direction
                << " " << dRadius               //wheel radius
                << " " << dInternalRadius       //wheel internal radius
                << std::endl;
}

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Wheel2::~Wheel2 ( void  )

virtual

Definition at line 299 of file module-wheel2.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

VariableSubMatrixHandler & Wheel2::AssJac ( VariableSubMatrixHandler &  WorkMat, doublereal  dCoef, const VectorHandler &  XCurr, const VectorHandler &  XPrimeCurr  )

virtual

Implements Elem.

Definition at line 334 of file module-wheel2.cc.

References VariableSubMatrixHandler::SetNullMatrix().

{  
        WorkMat.SetNullMatrix();
        
        return WorkMat;
}

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SubVectorHandler & Wheel2::AssRes ( SubVectorHandler &  WorkVec, doublereal  dCoef, const VectorHandler &  XCurr, const VectorHandler &  XPrimeCurr  )

virtual

Implements Elem.

Definition at line 345 of file module-wheel2.cc.

References VectorHandler::Add(), grad::atan2(), bSlip, copysign(), Vec3::Cross(), grad::Cross(), dAlpha, dAlphaThreshold, dDeltaL, dGamma, DriveCaller::dGet(), dHystVRef, dInstRadius, dInternalRadius, dMuX, dMuY, Vec3::Dot(), dP0, dRadius, dRefArea, dRNP, dSr, dV0, dVa, dVc, dVn, dvThreshold, F, WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), GroundDirection, GroundPosition, StructDispNode::iGetFirstMomentumIndex(), M, MBDYN_EXCEPT_ARGS, grad::Norm(), pGround, pMuX0, pMuY0, pMuY1, grad::pow(), SubVectorHandler::PutRowIndex(), pWheel, VectorHandler::Resize(), VectorHandler::ResizeReset(), grad::sqrt(), VectorHandler::Sub(), grad::tanh(), WheelAxle, WorkSpaceDim(), and Zero3.

{
        // ground orientation in the absolute frame
        Vec3 n = pGround->GetRCurr()*GroundDirection;

        // wheel-ground distance in the absolute frame
        Vec3 x = pWheel->GetXCurr() - pGround->GetXCurr();

        // contact when dDeltaL > 0
        dDeltaL = dRNP - x*n;

        // reset output data
        dInstRadius = dRadius - dDeltaL;
        
        dSr = 0.;
        dAlpha = 0.;

        dMuX = 0.;
        dMuY = 0.;

        dVa = 0.;
        dVc = 0.;

        if (dDeltaL < 0.) {
                
                F = Zero3;
                M = Zero3;

                dInstRadius = dRadius;
                dDeltaL = 0.;

                // no need to assemble residual contribution
                WorkVec.Resize(0);

                return WorkVec;
        }

        // resize residual
        integer iNumRows = 0;
        integer iNumCols = 0;
        WorkSpaceDim(&iNumRows, &iNumCols);
   
        WorkVec.ResizeReset(iNumRows);

        integer iGroundFirstMomIndex = pGround->iGetFirstMomentumIndex();
        integer iWheelFirstMomIndex = pWheel->iGetFirstMomentumIndex();

        // equations indexes
        for (int iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iGroundFirstMomIndex + iCnt);
                WorkVec.PutRowIndex(6 + iCnt, iWheelFirstMomIndex + iCnt);
        }

        // relative speed between wheel axle and ground
        Vec3 va = pWheel->GetVCurr() - pGround->GetVCurr()
                - pGround->GetWCurr().Cross(pGround->GetRCurr()*GroundPosition);

        dVa = (va - n*(n*va)).Norm();
        
        // relative speed between wheel and ground at contact point
        Vec3 v = va - (pWheel->GetWCurr()).Cross(n*dInstRadius);
        
        // normal component of relative speed
        // (positive when wheel departs from ground)
        dVn = n*v;
        
        dVc = (v - n*dVn).Norm();
        
        // estimated contact area
        doublereal dA = dRefArea*(dDeltaL/dInternalRadius);
        
        // estimated intersection volume
        doublereal dDeltaV = .5*dA*dDeltaL;

        // estimated tyre pressure (polytropic)
        doublereal dP = dP0*pow(dV0/(dV0 - dDeltaV), dGamma);

        // we assume the contact point lies at the root of the normal
        // to the ground that passes through the center of the wheel
        // this means that the axle needs to remain parallel to the ground
        Vec3 pc = pWheel->GetXCurr() - (n*dInstRadius);

        // force
        doublereal dFn = (dA*dP*(1. - tanh(dVn/dHystVRef)));
        F = n*dFn;

        if (bSlip) {
                // "forward" direction: axle cross normal to ground
                Vec3 fwd = (pWheel->GetRCurr()*WheelAxle).Cross(n);
                doublereal d = fwd.Dot();
                if (d < std::numeric_limits<doublereal>::epsilon()) {
                        silent_cerr("Wheel2(" << GetLabel() << "): "
                                "wheel axle is (neraly) orthogonal "
                                "to the ground" << std::endl);
                        throw DataManager::ErrGeneric(MBDYN_EXCEPT_ARGS);
                }
                fwd /= sqrt(d);

                // slip ratio
                doublereal dvx = fwd.Dot(v);
                doublereal sgn = copysign(1., dvx);
                doublereal dfvx = std::abs(dvx);
                doublereal dvax = fwd.Dot(va);
                doublereal dfvax = std::abs(dvax);

                // FIXME: if vax ~ 0 (e.g. because the vehicle stopped)
                // the "sleep" ratio needs to be small, right?
                dSr = dfvx/(dfvax + dvThreshold);
                if (dSr > 1.) {
                        dSr = 1.;
                }

                // "lateral" direction: normal to ground cross forward
                Vec3 lat = n.Cross(fwd);

                // lateral speed of wheel center
                doublereal dvay = lat.Dot(va);

                // wheel center drift angle
                // NOTE: the angle is restricted to the first quadran
                // the angle goes to zero when the velocity is below threshold
                dAlpha = atan2(dvay, std::abs(dvax));
                if (dAlphaThreshold > 0.) {
                        doublereal dtmp = tanh(sqrt(dvax*dvax + dvay*dvay)/dAlphaThreshold);
                        dAlpha *= dtmp*dtmp;
                }

                // longitudinal friction coefficient
                doublereal dMuX0 = pMuX0->dGet(dSr);

                // NOTE: -1 < alpha/(pi/2) < 1
                dMuX = dMuX0*sgn*(1. - std::abs(dAlpha)/M_PI_2);

                // force correction: the longitudinal friction coefficient
                // is used with the sign of the contact point relative speed
                F -= fwd*dFn*dMuX;

                if (dvay != 0.) {
                        doublereal dMuY0 = pMuY0->dGet(dAlpha);
                        doublereal dMuY1 = pMuY1->dGet(dAlpha);
                        
                        dMuY = dMuY0 + (dMuY1 - dMuY0)*dSr;

                        // force correction
                        F -= lat*dFn*dMuY;
                }
        }

        // moment
        M = (pc - pWheel->GetXCurr()).Cross(F);

        WorkVec.Sub(1, F);
        WorkVec.Sub(4, (pc - pGround->GetXCurr()).Cross(F));
        WorkVec.Add(7, F);
        WorkVec.Add(10, M);

        return WorkVec;
}

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void Wheel2::GetConnectedNodes ( std::vector< const Node * > &  connectedNodes ) const

virtual

Reimplemented from Elem.

Definition at line 521 of file module-wheel2.cc.

References pGround, and pWheel.

{
        // wheel + ground
        connectedNodes.resize(2);

        connectedNodes[0] = pWheel;
        connectedNodes[1] = pGround;
}

unsigned Wheel2::iGetInitialNumDof ( void  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 545 of file module-wheel2.cc.

{
        return 0;
}

int Wheel2::iGetNumConnectedNodes

(

void

)

const

Definition at line 514 of file module-wheel2.cc.

{
        // wheel + ground
        return 2;
}

unsigned int Wheel2::iGetNumPrivData ( void  ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 508 of file module-wheel2.cc.

{
        return 0;
}

VariableSubMatrixHandler & Wheel2::InitialAssJac ( VariableSubMatrixHandler &  WorkMat, const VectorHandler &  XCurr  )

virtual

Implements SubjectToInitialAssembly.

Definition at line 558 of file module-wheel2.cc.

References VariableSubMatrixHandler::SetNullMatrix().

{
        WorkMat.SetNullMatrix();
        return WorkMat;
}

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SubVectorHandler & Wheel2::InitialAssRes ( SubVectorHandler &  WorkVec, const VectorHandler &  XCurr  )

virtual

Implements SubjectToInitialAssembly.

Definition at line 566 of file module-wheel2.cc.

References VectorHandler::Resize().

{
        WorkVec.Resize(0);
        return WorkVec;
}

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void Wheel2::InitialWorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements SubjectToInitialAssembly.

Definition at line 551 of file module-wheel2.cc.

{
        *piNumRows = 0;
        *piNumCols = 0;
}

void Wheel2::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 305 of file module-wheel2.cc.

References ToBeOutput::bToBeOutput(), dAlpha, dDeltaL, dInstRadius, dMuX, dMuY, dSr, dVa, dVc, dVn, F, WithLabel::GetLabel(), OutputHandler::Loadable(), M, and M_PI.

{
        if (bToBeOutput()) {
                std::ostream& out = OH.Loadable();

                out << std::setw(8) << GetLabel()       // 1:   label
                        << " " << F                     // 2-4: force
                        << " " << M                     // 5-7: moment
                        << " " << dInstRadius           // 8:   inst. radius
                        << " " << dDeltaL               // 9:   radial deformation
                        << " " << dVn                   // 10:  radial deformation velocity
                        << " " << dSr                   // 11:  slip ratio
                        << " " << 180./M_PI*dAlpha      // 12:  slip angle
                        << " " << dMuX                  // 13:  longitudinal friction coefficient
                        << " " << dMuY                  // 14:  lateral friction coefficient
                        << " " << dVa                   // 15:  axis relative velocity
                        << " " << dVc                   // 16:  POC relative velocity
                        << std::endl;
        }
}

Here is the call graph for this function:

std::ostream & Wheel2::Restart ( std::ostream &  out ) const

virtual

Implements Elem.

Definition at line 539 of file module-wheel2.cc.

{
        return out << "# not implemented yet" << std::endl;
}

void Wheel2::SetValue ( DataManager *  pDM, VectorHandler &  X, VectorHandler &  XP, SimulationEntity::Hints *  ph  )

virtual

Reimplemented from SimulationEntity.

Definition at line 531 of file module-wheel2.cc.

References NO_OP.

{
        NO_OP;
}

void Wheel2::WorkSpaceDim ( integer *  piNumRows, integer *  piNumCols  ) const

virtual

Implements Elem.

Definition at line 327 of file module-wheel2.cc.

Referenced by AssRes().

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

Member Data Documentation

bool Wheel2::bSlip

private

Definition at line 77 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dAlpha

private

Definition at line 90 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dAlphaThreshold

private

Definition at line 91 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dDeltaL

private

Definition at line 87 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dGamma

private

Definition at line 73 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dHystVRef

private

Definition at line 74 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dInstRadius

private

Definition at line 86 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dInternalRadius

private

Definition at line 64 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dMuX

private

Definition at line 92 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dMuY

private

Definition at line 93 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dP0

private

Definition at line 72 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dRadius

private

Definition at line 63 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dRefArea

private

Definition at line 67 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dRNP

private

Definition at line 68 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dSr

private

Definition at line 89 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dV0

private

Definition at line 69 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

doublereal Wheel2::dVa

private

Definition at line 94 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dVc

private

Definition at line 95 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dVn

private

Definition at line 88 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

doublereal Wheel2::dVolCoef

private

Definition at line 65 of file module-wheel2.cc.

Referenced by Wheel2().

doublereal Wheel2::dvThreshold

private

Definition at line 81 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

Vec3 Wheel2::F

private

Definition at line 84 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

Vec3 Wheel2::GroundDirection

private

Definition at line 60 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

Vec3 Wheel2::GroundPosition

private

Definition at line 59 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

Vec3 Wheel2::M

private

Definition at line 85 of file module-wheel2.cc.

Referenced by AssRes(), and Output().

const StructNode* Wheel2::pGround

private

Definition at line 56 of file module-wheel2.cc.

Referenced by AssRes(), GetConnectedNodes(), and Wheel2().

const DriveCaller* Wheel2::pMuX0

private

Definition at line 78 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

const DriveCaller* Wheel2::pMuY0

private

Definition at line 79 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

const DriveCaller* Wheel2::pMuY1

private

Definition at line 80 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

const StructNode* Wheel2::pWheel

private

Definition at line 50 of file module-wheel2.cc.

Referenced by AssRes(), GetConnectedNodes(), and Wheel2().

Vec3 Wheel2::WheelAxle

private

Definition at line 53 of file module-wheel2.cc.

Referenced by AssRes(), and Wheel2().

---

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

• module-wheel2.cc