MBDyn-1.7.3
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LinearAccelerationJoint Class Reference

#include <accj.h>

Inheritance diagram for LinearAccelerationJoint:
Collaboration diagram for LinearAccelerationJoint:

Public Member Functions

 LinearAccelerationJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN, const Vec3 &TmpDir, const DriveCaller *pDC, flag fOut)
 
 ~LinearAccelerationJoint (void)
 
virtual Joint::Type GetJointType (void) const
 
virtual std::ostream & Restart (std::ostream &out) const
 
virtual unsigned int iGetNumDof (void) const
 
DofOrder::Order GetDofType (unsigned int i) const
 
void WorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
VariableSubMatrixHandlerAssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
SubVectorHandlerAssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)
 
void Output (OutputHandler &OH) const
 
virtual void SetValue (DataManager *pDM, VectorHandler &, VectorHandler &, SimulationEntity::Hints *ph=0)
 
virtual unsigned int iGetInitialNumDof (void) const
 
virtual void InitialWorkSpaceDim (integer *piNumRows, integer *piNumCols) const
 
VariableSubMatrixHandlerInitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
SubVectorHandlerInitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)
 
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
 
- 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 VariableSubMatrixHandlerAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)
 
virtual SubVectorHandlerAssRes (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 HintParseHint (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 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 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 DofOwnerpGetDofOwner (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 DriveOwner
 DriveOwner (const DriveCaller *pDC=0)
 
 DriveOwner (const DriveOwner &drive)
 
virtual ~DriveOwner (void)
 
void Set (const DriveCaller *pDC)
 
DriveCallerpGetDriveCaller (void) const
 
doublereal dGet (const doublereal &dVar) const
 
doublereal dGet (void) const
 
bool bIsDifferentiable (void) const
 
doublereal dGetP (const doublereal &dVar) const
 
doublereal dGetP (void) const
 

Private Attributes

const StructNodepNode
 
Vec3 Dir
 
doublereal dF
 

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
GravitypGravity
 
- Protected Attributes inherited from DriveOwner
DriveCallerpDriveCaller
 

Detailed Description

Definition at line 43 of file accj.h.

Constructor & Destructor Documentation

LinearAccelerationJoint::LinearAccelerationJoint ( unsigned int  uL,
const DofOwner pDO,
const StructNode pN,
const Vec3 TmpDir,
const DriveCaller pDC,
flag  fOut 
)

Definition at line 41 of file accj.cc.

References ASSERT, Dir, Vec3::Norm(), and pNode.

47 : Elem(uL, fOut),
48 Joint(uL, pDO, fOut),
49 DriveOwner(pDC),
50 pNode(pN),
51 Dir(TmpDir),
52 dF(0.)
53 {
54  ASSERT(pNode != NULL);
55  ASSERT(Dir.Norm() > std::numeric_limits<doublereal>::epsilon());
56  Dir /= Dir.Norm();
57 }
doublereal dF
Definition: accj.h:48
doublereal Norm(void) const
Definition: matvec3.h:263
Joint(unsigned int uL, const DofOwner *pD, flag fOut)
Definition: joint.cc:83
const StructNode * pNode
Definition: accj.h:46
#define ASSERT(expression)
Definition: colamd.c:977
Elem(unsigned int uL, flag fOut)
Definition: elem.cc:41
DriveOwner(const DriveCaller *pDC=0)
Definition: drive.cc:627

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LinearAccelerationJoint::~LinearAccelerationJoint ( void  )

Definition at line 61 of file accj.cc.

References NO_OP.

62 {
63  NO_OP;
64 }
#define NO_OP
Definition: myassert.h:74

Member Function Documentation

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

Implements Elem.

Definition at line 111 of file accj.cc.

References Vec3::dGet(), Dir, Node::iGetFirstColIndex(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SparseSubMatrixHandler::PutItem(), SparseSubMatrixHandler::Resize(), and VariableSubMatrixHandler::SetSparse().

115 {
116  SparseSubMatrixHandler& WM = WorkMat.SetSparse();
117  WM.Resize(8, 0);
118 
119  integer iNodeRowIndex = pNode->iGetFirstRowIndex();
120  integer iNodeColIndex = pNode->iGetFirstColIndex();
121  integer iIndex = iGetFirstIndex();
122 
123  doublereal d = Dir.dGet(1);
124  WorkMat.PutItem(1, iIndex+1, iNodeColIndex+1, d);
125  WorkMat.PutItem(2, iNodeRowIndex+1, iIndex+2, d);
126  d = Dir.dGet(2);
127  WorkMat.PutItem(3, iIndex+1, iNodeColIndex+2, d);
128  WorkMat.PutItem(4, iNodeRowIndex+2, iIndex+2, d);
129  d = Dir.dGet(3);
130  WorkMat.PutItem(5, iIndex+1, iNodeColIndex+3, d);
131  WorkMat.PutItem(6, iNodeRowIndex+3, iIndex+2, d);
132 
133  WorkMat.PutItem(7, iIndex+1, iIndex+1, -dCoef);
134  WorkMat.PutItem(8, iIndex+2, iIndex+1, 1.);
135 
136  return WorkMat;
137 }
const StructNode * pNode
Definition: accj.h:46
void Resize(integer iNewRow, integer iNewCol)
Definition: submat.cc:1053
void PutItem(integer iSubIt, integer iRow, integer iCol, const doublereal &dCoef)
Definition: submat.h:997
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
virtual integer iGetFirstRowIndex(void) const
Definition: node.cc:82
SparseSubMatrixHandler & SetSparse(void)
Definition: submat.h:1178
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
double doublereal
Definition: colamd.c:52
long int integer
Definition: colamd.c:51
virtual integer iGetFirstColIndex(void) const
Definition: node.cc:88

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

Implements Elem.

Definition at line 141 of file accj.cc.

References dF, DriveOwner::dGet(), Vec3::dGet(), Dir, Vec3::Dot(), StructDispNode::GetVCurr(), DofOwnerOwner::iGetFirstIndex(), Node::iGetFirstRowIndex(), pNode, SubVectorHandler::PutItem(), and VectorHandler::Resize().

145 {
146  WorkVec.Resize(5);
147 
148  integer iNodeRowIndex = pNode->iGetFirstRowIndex();
149  integer iIndex = iGetFirstIndex();
150 
151  doublereal dQ = XCurr(iIndex+1);
152  doublereal dQP = XPrimeCurr(iIndex+1);
153  dF = XCurr(iIndex+2);
154 
155  Vec3 V = pNode->GetVCurr();
156 
157  WorkVec.PutItem(1, iNodeRowIndex+1, -dF*Dir.dGet(1));
158  WorkVec.PutItem(2, iNodeRowIndex+2, -dF*Dir.dGet(2));
159  WorkVec.PutItem(3, iNodeRowIndex+3, -dF*Dir.dGet(3));
160  WorkVec.PutItem(4, iIndex+1, dQ-Dir.Dot(V));
161  WorkVec.PutItem(5, iIndex+2, dGet()-dQP);
162 
163  return WorkVec;
164 }
Definition: matvec3.h:98
doublereal dF
Definition: accj.h:48
doublereal Dot(const Vec3 &v) const
Definition: matvec3.h:243
doublereal dGet(void) const
Definition: drive.cc:671
const StructNode * pNode
Definition: accj.h:46
virtual void PutItem(integer iSubRow, integer iRow, const doublereal &dCoef)
Definition: submat.h:1445
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
virtual integer iGetFirstRowIndex(void) const
Definition: node.cc:82
virtual const Vec3 & GetVCurr(void) const
Definition: strnode.h:322
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
double doublereal
Definition: colamd.c:52
long int integer
Definition: colamd.c:51
virtual void Resize(integer iNewSize)=0

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doublereal LinearAccelerationJoint::dGetPrivData ( unsigned int  i) const
virtual

Reimplemented from SimulationEntity.

Definition at line 247 of file accj.cc.

References dF, DriveOwner::dGet(), and MBDYN_EXCEPT_ARGS.

248 {
249  switch (i) {
250  case 1:
251  return dF;
252  case 2:
253  return dGet();
254  default:
256  }
257 }
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
doublereal dF
Definition: accj.h:48
doublereal dGet(void) const
Definition: drive.cc:671

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

Reimplemented from Elem.

Definition at line 110 of file accj.h.

References pNode.

110  {
111  connectedNodes.resize(1);
112  connectedNodes[0] = pNode;
113 
114  };
const StructNode * pNode
Definition: accj.h:46
DofOrder::Order LinearAccelerationJoint::GetDofType ( unsigned int  i) const
virtual

Reimplemented from Elem.

Definition at line 87 of file accj.cc.

References DofOrder::ALGEBRAIC, ASSERT, DofOrder::DIFFERENTIAL, and MBDYN_EXCEPT_ARGS.

88 {
89  ASSERT(i == 0 || i == 1);
90  switch (i) {
91  case 0:
93  case 1:
94  return DofOrder::ALGEBRAIC;
95  default:
96  silent_cerr("invalid dof number" << std::endl);
98  }
99 }
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
#define ASSERT(expression)
Definition: colamd.c:977
Joint::Type LinearAccelerationJoint::GetJointType ( void  ) const
virtual

Implements Joint.

Definition at line 68 of file accj.cc.

References Joint::LINEARACCELERATION.

69 {
71 }
unsigned int LinearAccelerationJoint::iGetInitialNumDof ( void  ) const
virtual

Implements SubjectToInitialAssembly.

Definition at line 189 of file accj.cc.

190 {
191  return 0;
192 }
unsigned int LinearAccelerationJoint::iGetNumDof ( void  ) const
virtual

Reimplemented from Elem.

Definition at line 81 of file accj.cc.

82 {
83  return 2;
84 }
unsigned int LinearAccelerationJoint::iGetNumPrivData ( void  ) const
virtual

Reimplemented from SimulationEntity.

Definition at line 224 of file accj.cc.

225 {
226  return 2;
227 }
unsigned int LinearAccelerationJoint::iGetPrivDataIdx ( const char *  s) const
virtual

Reimplemented from SimulationEntity.

Definition at line 231 of file accj.cc.

References ASSERT.

232 {
233  ASSERT(s != NULL);
234 
235  if (strcmp(s, "F") == 0) {
236  return 1;
237  }
238 
239  if (strcmp(s, "a") == 0) {
240  return 2;
241  }
242 
243  return 0;
244 }
#define ASSERT(expression)
Definition: colamd.c:977
VariableSubMatrixHandler & LinearAccelerationJoint::InitialAssJac ( VariableSubMatrixHandler WorkMat,
const VectorHandler XCurr 
)
virtual

Implements SubjectToInitialAssembly.

Definition at line 205 of file accj.cc.

References VariableSubMatrixHandler::SetNullMatrix().

207 {
208  WorkMat.SetNullMatrix();
209  return WorkMat;
210 }
void SetNullMatrix(void)
Definition: submat.h:1159

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

Implements SubjectToInitialAssembly.

Definition at line 215 of file accj.cc.

References VectorHandler::Resize().

217 {
218  WorkVec.Resize(0);
219  return WorkVec;
220 }
virtual void Resize(integer iNewSize)=0

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void LinearAccelerationJoint::InitialWorkSpaceDim ( integer piNumRows,
integer piNumCols 
) const
virtual

Implements SubjectToInitialAssembly.

Definition at line 195 of file accj.cc.

197 {
198  *piNumRows = 0;
199  *piNumCols = 0;
200 }
void LinearAccelerationJoint::Output ( OutputHandler OH) const
virtual

Reimplemented from ToBeOutput.

Definition at line 167 of file accj.cc.

References dF, DriveOwner::dGet(), Dir, WithLabel::GetLabel(), OutputHandler::Joints(), Joint::Output(), and Zero3.

168 {
169  Joint::Output(OH.Joints(), "LinearAcc", GetLabel(),
170  Vec3(dF, 0., 0.), Zero3, Dir*dF, Zero3)
171  << " " << dGet() << std::endl;
172 }
const Vec3 Zero3(0., 0., 0.)
Definition: matvec3.h:98
doublereal dF
Definition: accj.h:48
doublereal dGet(void) const
Definition: drive.cc:671
std::ostream & Joints(void) const
Definition: output.h:443
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
Definition: joint.cc:138
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Implements Elem.

Definition at line 75 of file accj.cc.

76 {
77  return out << "Not implemented yet!" << std::endl;
78 }
void LinearAccelerationJoint::SetValue ( DataManager pDM,
VectorHandler X,
VectorHandler ,
SimulationEntity::Hints ph = 0 
)
virtual

Reimplemented from Joint.

Definition at line 175 of file accj.cc.

References Dir, StructDispNode::GetVCurr(), DofOwnerOwner::iGetFirstIndex(), and pNode.

178 {
179  // TODO: hints (e.g. get drive, get orientation)
180  integer iIndex = iGetFirstIndex();
181 
182  // inherit initial velocity from node's
183  const Vec3& V(pNode->GetVCurr());
184  X(iIndex + 1) = Dir*V;
185 }
Definition: matvec3.h:98
const StructNode * pNode
Definition: accj.h:46
virtual const Vec3 & GetVCurr(void) const
Definition: strnode.h:322
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
long int integer
Definition: colamd.c:51

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void LinearAccelerationJoint::WorkSpaceDim ( integer piNumRows,
integer piNumCols 
) const
virtual

Implements Elem.

Definition at line 102 of file accj.cc.

104 {
105  *piNumRows = 5;
106  *piNumCols = 5;
107 }

Member Data Documentation

doublereal LinearAccelerationJoint::dF
private

Definition at line 48 of file accj.h.

Referenced by AssRes(), dGetPrivData(), and Output().

Vec3 LinearAccelerationJoint::Dir
private

Definition at line 47 of file accj.h.

Referenced by AssJac(), AssRes(), LinearAccelerationJoint(), Output(), and SetValue().

const StructNode* LinearAccelerationJoint::pNode
private

Definition at line 46 of file accj.h.

Referenced by AssJac(), AssRes(), GetConnectedNodes(), LinearAccelerationJoint(), and SetValue().


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