FollowerForce Class Reference

#include <strforce_impl.h>

Inheritance diagram for FollowerForce:

Collaboration diagram for FollowerForce:

Public Member Functions
	FollowerForce (unsigned int uL, const StructNode *pN, const TplDriveCaller< Vec3 > *pDC, const Vec3 &TmpArm, flag fOut)
	~FollowerForce (void)
virtual Force::Type	GetForceType (void) const
virtual std::ostream &	Restart (std::ostream &out) const
void	WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &, const VectorHandler &, const VectorHandler &, InverseDynamics::Order iOrder)
virtual void	OutputPrepare (OutputHandler &OH)
virtual void	Output (OutputHandler &OH) const
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 int	GetNumConnectedNodes (void) const
Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")
virtual	~WithLabel (void)
void	PutLabel (unsigned int uL)
void	PutName (const std::string &sN)
unsigned int	GetLabel (void) const
const std::string &	GetName (void) const
Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)
virtual	~SimulationEntity (void)
virtual bool	bIsValidIndex (unsigned int i) const
virtual DofOrder::Order	GetEqType (unsigned int i) const
virtual void	SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *h=0)
virtual Hint *	ParseHint (DataManager *pDM, const char *s) const
virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const
virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)
virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)
virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)
virtual unsigned int	iGetNumPrivData (void) const
virtual unsigned int	iGetPrivDataIdx (const char *s) const
virtual doublereal	dGetPrivData (unsigned int i) const
virtual std::ostream &	OutputAppend (std::ostream &out) const
virtual void	ReadInitialState (MBDynParser &HP)
Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)
virtual	~ToBeOutput (void)
virtual void	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 StructuralForce
	StructuralForce (unsigned int uL, const StructNode *pN, const TplDriveCaller< Vec3 > *pDC, flag fOut)
virtual	~StructuralForce (void)
virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const
Public Member Functions inherited from Force
	Force (unsigned int uL, flag fOut)
virtual	~Force (void)
virtual Elem::Type	GetElemType (void) 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
const Vec3	Arm
Protected Attributes inherited from WithLabel
unsigned int	uLabel
std::string	sName
Protected Attributes inherited from ToBeOutput
flag	fOutput
Protected Attributes inherited from StructuralForce
TplDriveOwner< Vec3 >	f
const StructNode *	pNode

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 StructuralForce
enum	{ OUTPUT_REL = ToBeOutput::OUTPUT_PRIVATE }
Public Types inherited from Force
enum	Type {   UNKNOWN = -1, ABSTRACTFORCE = 0, ABSTRACTINTERNALFORCE, ABSOLUTEDISPFORCE,   ABSOLUTEINTERNALDISPFORCE, ABSOLUTEFORCE, FOLLOWERFORCE, ABSOLUTECOUPLE,   FOLLOWERCOUPLE, ABSOLUTEINTERNALFORCE, FOLLOWERINTERNALFORCE, ABSOLUTEINTERNALCOUPLE,   FOLLOWERINTERNALCOUPLE, TOTALFORCE, TOTALINTERNALFORCE, EXTERNALSTRUCTURAL,   MODALFORCE, EXTERNALMODAL, LASTFORCETYPE }

Detailed Description

Definition at line 278 of file strforce_impl.h.

Constructor & Destructor Documentation

FollowerForce::FollowerForce	(	unsigned int	uL,
		const StructNode *	pN,
		const TplDriveCaller< Vec3 > *	pDC,
		const Vec3 &	TmpArm,
		flag	fOut
	)

Definition at line 709 of file strforce.cc.

References NO_OP.

: Elem(uL, fOut),
StructuralForce(uL, pN, pDC, fOut),
Arm(TmpArm)
#ifdef USE_NETCDF
,
Var_A(0)
#endif // USE_NETCDF
{
        NO_OP;
}

FollowerForce::~FollowerForce

(

void

)

Definition at line 725 of file strforce.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

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

virtual

Implements Elem.

Definition at line 762 of file strforce.cc.

References FullSubMatrixHandler::Add(), Arm, Vec3::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRRef(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), MatCross, StructuralForce::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and WorkSpaceDim().

{
        DEBUGCOUT("Entering FollowerForce::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 iFirstRotationIndex = pNode->iGetFirstPositionIndex() + 3;
        integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
        for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                WM.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);     /* forza */
                WM.PutRowIndex(3 + iCnt, iFirstMomentumIndex + 3 + iCnt); /* coppia */
                WM.PutColIndex(iCnt, iFirstRotationIndex + iCnt);     /* rotazione */
        }

        /* Dati */
        const Mat3x3& R(pNode->GetRRef());
        Vec3 TmpDir(R*(f.Get()*dCoef));
        Vec3 TmpArm(R*Arm);

        /* |    F/\   |           |   F  |
         * |          | Delta_g = |      |
         * | (d/\F)/\ |           | d/\F |
         */

        WM.Add(1, 1, Mat3x3(MatCross, TmpDir));
        WM.Add(4, 1, Mat3x3(MatCross, TmpArm.Cross(TmpDir)));

        return WorkMat;
}

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

virtual

Implements Elem.

Definition at line 804 of file strforce.cc.

References VectorHandler::Add(), Arm, Vec3::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::iGetFirstMomentumIndex(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), and WorkSpaceDim().

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

        integer iNumRows;
        integer iNumCols;
        WorkSpaceDim(&iNumRows, &iNumCols);
        WorkVec.ResizeReset(iNumRows);

        /* Indici delle incognite del nodo */
        integer iFirstMomentumIndex = pNode->iGetFirstMomentumIndex();
        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex + iCnt);
        }

        /* Dati */
        const Mat3x3& R(pNode->GetRCurr());
        Vec3 TmpDir = f.Get();
        Vec3 F(R*TmpDir);
        Vec3 M(R*Arm.Cross(TmpDir));

        WorkVec.Add(1, F);
        WorkVec.Add(4, M);

        return WorkVec;
}

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SubVectorHandler & FollowerForce::AssRes ( SubVectorHandler &  WorkVec, const VectorHandler &  , const VectorHandler &  , const VectorHandler &  , InverseDynamics::Order  iOrder  )

virtual

Reimplemented from Elem.

Definition at line 837 of file strforce.cc.

References VectorHandler::Add(), Arm, Vec3::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructDispNode::iGetFirstPositionIndex(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, VectorHandler::ResizeReset(), and WorkSpaceDim().

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

        integer iNumRows;
        integer iNumCols;
        WorkSpaceDim(&iNumRows, &iNumCols);
        WorkVec.ResizeReset(iNumRows);

        /* Indici delle incognite del nodo */
        integer iFirstMomentumIndex = pNode->iGetFirstPositionIndex();
        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iFirstMomentumIndex+iCnt);
        }

        /* Dati */
        const Mat3x3& R(pNode->GetRCurr());
        Vec3 TmpDir = f.Get();
        Vec3 F(R*TmpDir);
        Vec3 M(R*Arm.Cross(TmpDir));

        WorkVec.Add(1, F);
        WorkVec.Add(4, M);

        return WorkVec;
}

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virtual Force::Type FollowerForce::GetForceType ( void  ) const

inlinevirtual

Implements Force.

Definition at line 296 of file strforce_impl.h.

References Force::FOLLOWERFORCE.

                                                   {
                return Force::FOLLOWERFORCE;
        };

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

virtual

Reimplemented from Force.

Definition at line 938 of file strforce.cc.

References FullSubMatrixHandler::Add(), Arm, DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRRef(), StructNode::GetWRef(), StructDispNode::iGetFirstPositionIndex(), MatCross, MatCrossCross, StructuralForce::pNode, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R, FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

{
        DEBUGCOUT("Entering FollowerForce::InitialAssJac()" << std::endl);

        FullSubMatrixHandler& WM = WorkMat.SetFull();

        /* Dimensiona e resetta la matrice di lavoro */
        WM.ResizeReset(12, 6);

        integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
        integer iFirstVelocityIndex = iFirstPositionIndex + 6;
        for (integer iCnt = 1; iCnt <= 3; iCnt++) {
                WM.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                WM.PutRowIndex(3 + iCnt, iFirstPositionIndex + 3 + iCnt);
                WM.PutRowIndex(6 + iCnt, iFirstVelocityIndex + iCnt);
                WM.PutRowIndex(9 + iCnt, iFirstVelocityIndex + 3 + iCnt);
                WM.PutColIndex(iCnt, iFirstPositionIndex + 3 + iCnt);
                WM.PutColIndex(3 + iCnt, iFirstVelocityIndex + 3 + iCnt);
        }

        /* Dati */
        const Mat3x3& R(pNode->GetRRef());
        Vec3 TmpArm(R*Arm);
        Vec3 TmpDir = R*f.Get();
        const Vec3& Omega(pNode->GetWRef());

        /* |    F/\   |           |   F  |
         * |          | Delta_g = |      |
         * | (d/\F)/\ |           | d/\F |
         */

        WM.Add(1, 1, Mat3x3(MatCross, TmpDir));
        WM.Add(4, 1, Mat3x3(MatCross, TmpArm.Cross(TmpDir)));
        WM.Add(7, 1, Mat3x3(MatCrossCross, Omega, TmpDir));
        WM.Add(7, 4, Mat3x3(MatCross, TmpDir));
        WM.Add(10, 1, Mat3x3(MatCrossCross, Omega, TmpArm.Cross(TmpDir)));
        WM.Add(10, 4, Mat3x3(MatCross, TmpArm.Cross(TmpDir)));

        return WorkMat;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 983 of file strforce.cc.

References VectorHandler::Add(), Arm, grad::Cross(), DEBUGCOUT, StructuralForce::f, TplDriveOwner< T >::Get(), StructNode::GetRCurr(), StructNode::GetWCurr(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), StructuralForce::pNode, SubVectorHandler::PutRowIndex(), R, and VectorHandler::ResizeReset().

{
        DEBUGCOUT("Entering FollowerForce::InitialAssRes()" << std::endl);

        integer iNumRows;
        integer iNumCols;
        InitialWorkSpaceDim(&iNumRows, &iNumCols);
        WorkVec.ResizeReset(iNumRows);

        /* Indici delle incognite del nodo */
        integer iFirstPositionIndex = pNode->iGetFirstPositionIndex();
        integer iFirstVelocityIndex = iFirstPositionIndex + 6;
        for (integer iCnt = 1; iCnt <= 6; iCnt++) {
                WorkVec.PutRowIndex(iCnt, iFirstPositionIndex + iCnt);
                WorkVec.PutRowIndex(6 + iCnt, iFirstVelocityIndex + iCnt);
        }

        /* Dati */
        const Mat3x3& R(pNode->GetRCurr());
        Vec3 TmpDir(R*f.Get());
        Vec3 TmpArm(R*Arm);
        const Vec3& Omega(pNode->GetWCurr());

        WorkVec.Add(1, TmpDir);
        WorkVec.Add(4, TmpArm.Cross(TmpDir));
        WorkVec.Add(7, Omega.Cross(TmpDir));
        WorkVec.Add(10, (Omega.Cross(TmpArm)).Cross(TmpDir)
                + TmpArm.Cross(Omega.Cross(TmpDir)));

        return WorkVec;
}

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 740 of file strforce.cc.

Referenced by InitialAssRes().

{
        *piNumRows = 12;
        *piNumCols = 6;
}

void FollowerForce::Output ( OutputHandler &  OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 900 of file strforce.cc.

References Arm, ToBeOutput::bToBeOutput(), StructuralForce::f, OutputHandler::FORCES, OutputHandler::Forces(), ToBeOutput::fToBeOutput(), TplDriveOwner< T >::Get(), OutputHandler::GetCurrentStep(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetXCurr(), StructuralForce::OUTPUT_REL, StructuralForce::pNode, OutputHandler::UseNetCDF(), and OutputHandler::UseText().

{
        if (bToBeOutput()) {
#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::FORCES)) {
                        if (fToBeOutput() & OUTPUT_REL) {
                                Var_F->put_rec((f.Get()).pGetVec(), OH.GetCurrentStep());
                        } else {
                                Var_F->put_rec((pNode->GetRCurr()*f.Get()).pGetVec(), OH.GetCurrentStep());
                        }
                        Var_A->put_rec((pNode->GetXCurr() + pNode->GetRCurr()*Arm).pGetVec(), OH.GetCurrentStep());
                }
#endif // USE_NETCDF

                if (OH.UseText(OutputHandler::FORCES)) {
                        OH.Forces()
                                << GetLabel()
                                << " " << pNode->GetLabel();

                        if (fToBeOutput() & OUTPUT_REL) {
                                OH.Forces()
                                        << " " << f.Get();

                        } else {
                                OH.Forces()
                                        << " " << pNode->GetRCurr()*f.Get();
                        }
                        
                        OH.Forces()
                                << " " << pNode->GetXCurr() + pNode->GetRCurr()*Arm
                                << std::endl;
                }
        }
}

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void FollowerForce::OutputPrepare ( OutputHandler &  OH )

virtual

Reimplemented from ToBeOutput.

Definition at line 869 of file strforce.cc.

References ASSERT, ToBeOutput::bToBeOutput(), OutputHandler::FORCES, ToBeOutput::fToBeOutput(), WithLabel::GetLabel(), OutputHandler::IsOpen(), OutputHandler::NETCDF, StructuralForce::OUTPUT_REL, and OutputHandler::UseNetCDF().

{
        if (bToBeOutput()) {
#ifdef USE_NETCDF
                if (OH.UseNetCDF(OutputHandler::FORCES)) {
                        ASSERT(OH.IsOpen(OutputHandler::NETCDF));

                        std::ostringstream os;
                        os << "elem.force." << GetLabel();
                        (void)OH.CreateVar(os.str(), "follower");

                        // joint sub-data
                        if (fToBeOutput() & StructuralForce::OUTPUT_REL) {
                                os << '.';
                                Var_F = OH.CreateVar<Vec3>(os.str() + "f", "N",
                                        "local force components (x, y, z)");

                        } else {
                                os << '.';
                                Var_F = OH.CreateVar<Vec3>(os.str() + "F", "N",
                                        "global force components (x, y, z)");
                        }

                        Var_A = OH.CreateVar<Vec3>(os.str() + "Arm", "m",
                                "arm in global frame (x, y, z)");
                }
#endif // USE_NETCDF
        }
}

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

virtual

Implements Elem.

Definition at line 751 of file strforce.cc.

References Arm, StructuralForce::f, WithLabel::GetLabel(), TplDriveOwner< T >::pGetDriveCaller(), StructuralForce::pNode, TplDriveCaller< T >::Restart(), Force::Restart(), and Vec3::Write().

{
        Force::Restart(out) << ", follower, "
                << pNode->GetLabel()
                << ", position, reference, node, ",
                Arm.Write(out, ", ") << ", ";
        return f.pGetDriveCaller()->Restart(out) << ';' << std::endl;
}

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

virtual

Implements Elem.

Definition at line 732 of file strforce.cc.

Referenced by AssJac(), and AssRes().

{
        *piNumRows = 6;
        *piNumCols = 3;
}

Member Data Documentation

const Vec3 FollowerForce::Arm

protected

Definition at line 280 of file strforce_impl.h.

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

---

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

• strforce_impl.h
• strforce.cc