#include <jointreg.h>

Inheritance diagram for DynamicRegularization:

Collaboration diagram for DynamicRegularization:

Public Member Functions
	DynamicRegularization (unsigned int uL, const Joint *j, const std::vector< doublereal > &c, flag fOut)

virtual	~DynamicRegularization (void)

virtual JointRegularization::Type	GetJointRegularizationType (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

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

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

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

virtual 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

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) 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, 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 JointRegularization
	JointRegularization (unsigned int uL, const Joint *j, flag fOut)

virtual	~JointRegularization (void)

virtual Elem::Type	GetElemType (void) const

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

virtual unsigned int	iGetInitialNumDof (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)

Protected Attributes
std::vector< doublereal >	dC

std::vector< doublereal >	dLambda

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from JointRegularization
const Joint *	pJ

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 JointRegularization
enum	Type { UNKNOWN = -1, TIKHONOV_REGULARIZATION = 0, DYNAMIC_REGULARIZATION, JACOBIAN_REGULARIZATION, LASTJOINTREGTYPE }

Detailed Description

Definition at line 144 of file jointreg.h.

Constructor & Destructor Documentation

DynamicRegularization::DynamicRegularization	(	unsigned int	uL,
		const Joint *	j,
		const std::vector< doublereal > &	c,
		flag	fOut
	)

Definition at line 224 of file jointreg.cc.

References NO_OP.

 : Elem(uL, fOut),
 JointRegularization(uL, j, fOut),
 dC(c),
 dLambda(c.size())
 {
         NO_OP;
 }

DynamicRegularization::~DynamicRegularization ( void )

virtual

Definition at line 236 of file jointreg.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 255 of file jointreg.cc.

References dLambda.

 {
         for (std::vector<doublereal>::iterator i = dLambda.begin();
                 i != dLambda.end(); ++i )
         {
                 *i = 0.;
         }
 }

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

virtual

Implements Elem.

Definition at line 289 of file jointreg.cc.

References dC, DofOwnerOwner::iGetFirstIndex(), Elem::iGetNumDof(), JointRegularization::pJ, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

 {
         SparseSubMatrixHandler& WM = WorkMat.SetSparse();
 
         integer iFirstIndex = pJ->iGetFirstIndex();
         unsigned iNumDofs = pJ->iGetNumDof();
 
         WM.ResizeReset(iNumDofs, 0);
         for (unsigned iCnt = 1; iCnt <= iNumDofs; iCnt++) {
                 WM.PutItem(iCnt, iFirstIndex + iCnt, iFirstIndex + iCnt,
                         - dC[iCnt - 1]/dCoef);
         }
 
         return WorkMat;
 }

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

virtual

Implements Elem.

Definition at line 267 of file jointreg.cc.

References dC, dLambda, DofOwnerOwner::iGetFirstIndex(), Elem::iGetNumDof(), JointRegularization::pJ, SubVectorHandler::PutItem(), and VectorHandler::ResizeReset().

 {
         integer iFirstIndex = pJ->iGetFirstIndex();
         unsigned iNumDofs = pJ->iGetNumDof();
 
         WorkVec.ResizeReset(iNumDofs);
 
         for (unsigned iCnt = 1; iCnt <= iNumDofs; iCnt++) {
                 unsigned iCntm1 = iCnt - 1;
                 WorkVec.PutItem(iCnt, iFirstIndex + iCnt,
                         dC[iCntm1]*dLambda[iCntm1]/dCoef);
                 dLambda[iCntm1] = XCurr(iFirstIndex + iCnt);
         }
 
         return WorkVec;
 }

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JointRegularization::Type DynamicRegularization::GetJointRegularizationType ( void ) const

virtual

Implements JointRegularization.

Definition at line 242 of file jointreg.cc.

References JointRegularization::DYNAMIC_REGULARIZATION.

 {
         return JointRegularization::DYNAMIC_REGULARIZATION;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 317 of file jointreg.cc.

References dC, DofOwnerOwner::iGetFirstIndex(), SubjectToInitialAssembly::iGetInitialNumDof(), JointRegularization::pJ, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetSparse().

 {               
         SparseSubMatrixHandler& WM = WorkMat.SetSparse();
 
         integer iFirstIndex = pJ->iGetFirstIndex();
         unsigned iNumDofs = pJ->iGetInitialNumDof();
 
         WM.ResizeReset(iNumDofs, 0);
         
         unsigned tmp1 = 0;
         unsigned tmp2 = 0;
 
         for (unsigned iCnt = 1; iCnt <= iNumDofs; iCnt++) {
                 WM.PutItem(iCnt, iFirstIndex + iCnt, iFirstIndex + iCnt,
                         - dC[tmp2]);
                 if(tmp1 == 1)   {
                         tmp1 = 0;
                         tmp2++;
                 } else  {
                         tmp1++;
                 }
         }
         
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 345 of file jointreg.cc.

References dC, DofOwnerOwner::iGetFirstIndex(), SubjectToInitialAssembly::iGetInitialNumDof(), JointRegularization::pJ, SubVectorHandler::PutItem(), and VectorHandler::ResizeReset().

 {
         integer iFirstIndex = pJ->iGetFirstIndex();
         unsigned iNumDofs = pJ->iGetInitialNumDof();
 
         WorkVec.ResizeReset(iNumDofs);
 
         std::vector<doublereal> dInitialLambda(iNumDofs);
 
         for (std::vector<doublereal>::iterator i = dInitialLambda.begin();
                 i != dInitialLambda.end(); ++i )
         {
                 *i = 0.;
         }
 
         unsigned tmp1 = 0;
         unsigned tmp2 = 0;
 
         for (unsigned iCnt = 1; iCnt <= iNumDofs; iCnt++) {
                 unsigned iCntm1 = iCnt - 1;
                 WorkVec.PutItem(iCnt, iFirstIndex + iCnt,
                         dC[tmp2]*dInitialLambda[iCntm1]);
                 if(tmp1 == 1)   {
                         tmp1 = 0;
                         tmp2++;
                 } else  {
                         tmp1++;
                 }
 
                 dInitialLambda[iCntm1] = XCurr(iFirstIndex + iCnt);
         }
 
 
         return WorkVec;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 310 of file jointreg.cc.

References SubjectToInitialAssembly::iGetInitialNumDof(), and JointRegularization::pJ.

 {
         *piNumRows = *piNumCols = pJ->iGetInitialNumDof();
 }

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

virtual

Implements Elem.

Definition at line 248 of file jointreg.cc.

References Elem::iGetNumDof(), and JointRegularization::pJ.

 {
         *piNumRows = *piNumCols = pJ->iGetNumDof();
 }

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Member Data Documentation

std::vector<doublereal> DynamicRegularization::dC

protected

Definition at line 148 of file jointreg.h.

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

std::vector<doublereal> DynamicRegularization::dLambda

protected

Definition at line 149 of file jointreg.h.

Referenced by AfterConvergence(), and AssRes().

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation