MBDyn-1.7.3
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PlaneRotationJoint Class Reference

#include <planej.h>

Inheritance diagram for PlaneRotationJoint:
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Collaboration diagram for PlaneRotationJoint:
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Public Member Functions

 PlaneRotationJoint (unsigned int uL, const DofOwner *pDO, const StructNode *pN1, const StructNode *pN2, const Mat3x3 &R1hTmp, const Mat3x3 &R2hTmp, const OrientationDescription &od, flag fOut)
 
 ~PlaneRotationJoint (void)
 
virtual std::ostream & Restart (std::ostream &out) const
 
virtual Joint::Type GetJointType (void) const
 
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
 
DofOrder::Order GetDofType (unsigned int i) const
 
virtual void SetValue (DataManager *pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints *ph=0)
 
virtual Hint * ParseHint (DataManager *pDM, const char *s) const
 
virtual void AfterConvergence (const VectorHandler &X, const VectorHandler &XP)
 
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)
 
DofOrder::Order GetEqType (unsigned int i) const
 
void OutputPrepare (OutputHandler &OH)
 
void Output (OutputHandler &OH) 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)
 
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 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 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, 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 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 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)
 

Protected Attributes

OrientationDescription od
 
- Protected Attributes inherited from WithLabel
unsigned int uLabel
 
std::string sName
 
- Protected Attributes inherited from ToBeOutput
flag fOutput
 
- Protected Attributes inherited from GravityOwner
Gravity * pGravity
 

Private Attributes

const StructNode * pNode1
 
const StructNode * pNode2
 
Mat3x3 R1h
 
Mat3x3 R2h
 
Vec3 M
 
int NTheta
 
doublereal dTheta
 
doublereal dThetaWrapped
 

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
 

Detailed Description

Definition at line 206 of file planej.h.

Constructor & Destructor Documentation

PlaneRotationJoint::PlaneRotationJoint ( unsigned int  uL,
const DofOwner *  pDO,
const StructNode *  pN1,
const StructNode *  pN2,
const Mat3x3 &  R1hTmp,
const Mat3x3 &  R2hTmp,
const OrientationDescription &  od,
flag  fOut 
)

Definition at line 1533 of file planej.cc.

References NO_OP.

1538 : Elem(uL, fOut),
1539 Joint(uL, pDO, fOut),
1540 pNode1(pN1), pNode2(pN2),
1541 R1h(R1hTmp), R2h(R2hTmp), M(Zero3),
1542 NTheta(0), dTheta(0.),
1543 dThetaWrapped(0.),
1544 #ifdef USE_NETCDF
1545 Var_Phi(0),
1546 Var_Omega(0),
1547 //Var_MFR(0),
1548 //Var_MU(0),
1549 #endif // USE_NETCDF
1550 od(od)
1551 {
1552  NO_OP;
1553 }
Zero3
const Vec3 Zero3(0., 0., 0.)
PlaneRotationJoint::od
OrientationDescription od
Definition: planej.h:229
Joint::Joint
Joint(unsigned int uL, const DofOwner *pD, flag fOut)
Definition: joint.cc:83
NO_OP
#define NO_OP
Definition: myassert.h:74
PlaneRotationJoint::dThetaWrapped
doublereal dThetaWrapped
Definition: planej.h:222
PlaneRotationJoint::dTheta
doublereal dTheta
Definition: planej.h:222
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
Elem::Elem
Elem(unsigned int uL, flag fOut)
Definition: elem.cc:41
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
PlaneRotationJoint::~PlaneRotationJoint ( void  )

Definition at line 1557 of file planej.cc.

References NO_OP.

1558 {
1559  NO_OP;
1560 };
NO_OP
#define NO_OP
Definition: myassert.h:74

Member Function Documentation

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

Reimplemented from SimulationEntity.

Definition at line 1772 of file planej.cc.

References dTheta, dThetaWrapped, StructNode::GetRCurr(), M_PI, NTheta, pNode1, pNode2, R1h, R2h, and RotManip::VecRot().

1774 {
1775  Vec3 v(RotManip::VecRot((pNode1->GetRCurr()*R1h).MulTM(pNode2->GetRCurr()*R2h)));
1776  doublereal dThetaTmp(v(3));
1777 
1778  // unwrap
1779  if (dThetaTmp - dThetaWrapped < -M_PI) {
1780  NTheta++;
1781  }
1782 
1783  if (dThetaTmp - dThetaWrapped > M_PI) {
1784  NTheta--;
1785  }
1786 
1787  // save new wrapped angle
1788  dThetaWrapped = dThetaTmp;
1789 
1790  // compute new unwrapped angle
1791  dTheta = 2*M_PI*NTheta + dThetaWrapped;
1792 }
M_PI
#define M_PI
Definition: gradienttest.cc:67
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
RotManip::VecRot
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
PlaneRotationJoint::dThetaWrapped
doublereal dThetaWrapped
Definition: planej.h:222
PlaneRotationJoint::dTheta
doublereal dTheta
Definition: planej.h:222
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
doublereal
double doublereal
Definition: colamd.c:52
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216

Here is the call graph for this function:

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

Implements Elem.

Definition at line 1812 of file planej.cc.

References FullSubMatrixHandler::Add(), DEBUGCOUT, Vec3::dGet(), StructNode::GetRRef(), Mat3x3::GetVec(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), M, MatCrossCross, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R2h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), and WorkSpaceDim().

1816 {
1817  DEBUGCOUT("Entering PlaneRotationJoint::AssJac()" << std::endl);
1818 
1819  /* Setta la sottomatrice come piena (e' un po' dispersivo, ma lo jacobiano
1820  * e' complicato */
1821  FullSubMatrixHandler& WM = WorkMat.SetFull();
1822 
1823  /* Ridimensiona la sottomatrice in base alle esigenze */
1824  integer iNumRows = 0;
1825  integer iNumCols = 0;
1826  WorkSpaceDim(&iNumRows, &iNumCols);
1827  WM.ResizeReset(iNumRows, iNumCols);
1828 
1829  /* Recupera gli indici delle varie incognite */
1830  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
1831  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex()+3;
1832  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
1833  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex()+3;
1834  integer iFirstReactionIndex = iGetFirstIndex();
1835 
1836  /* Setta gli indici delle equazioni */
1837  for (int iCnt = 1; iCnt <= 3; iCnt++) {
1838  WM.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
1839  WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
1840  WM.PutRowIndex(3+iCnt, iNode2FirstMomIndex+iCnt);
1841  WM.PutColIndex(3+iCnt, iNode2FirstPosIndex+iCnt);
1842  }
1843 
1844  for (int iCnt = 1; iCnt <= 2; iCnt++) {
1845  WM.PutRowIndex(6+iCnt, iFirstReactionIndex+iCnt);
1846  WM.PutColIndex(6+iCnt, iFirstReactionIndex+iCnt);
1847  }
1848 
1849  /* Recupera i dati che servono */
1850  const Mat3x3& R1(pNode1->GetRRef());
1851  const Mat3x3& R2(pNode2->GetRRef());
1852  Mat3x3 R1hTmp(R1*R1h);
1853  Mat3x3 R2hTmp(R2*R2h);
1854 
1855  /* Suppongo che le reazioni F, M siano gia' state aggiornate da AssRes;
1856  * ricordo che la forza F e' nel sistema globale, mentre la coppia M
1857  * e' nel sistema locale ed il terzo termine, M(3), e' nullo in quanto
1858  * diretto come l'asse attorno al quale la rotazione e' consentita */
1859 
1860 
1861  /*
1862  * La cerniera piana ha le prime 3 equazioni uguali alla cerniera sferica;
1863  * inoltre ha due equazioni che affermano la coincidenza dell'asse 3 del
1864  * riferimento solidale con la cerniera visto dai due nodi.
1865  *
1866  * (R1 * R1h * e1)^T * (R2 * R2h * e3) = 0
1867  * (R1 * R1h * e2)^T * (R2 * R2h * e3) = 0
1868  *
1869  * A queste equazioni corrisponde una reazione di coppia agente attorno
1870  * agli assi 1 e 2 del riferimento della cerniera. La coppia attorno
1871  * all'asse 3 e' nulla per definizione. Quindi la coppia nel sistema
1872  * globale e':
1873  * -R1 * R1h * M per il nodo 1,
1874  * R2 * R2h * M per il nodo 2
1875  *
1876  *
1877  * xa ga xb gb F M
1878  * Qa | 0 0 0 0 I 0 | | xa | | -F |
1879  * Ga | 0 c*(F/\da/\-(Sa*M)/\) 0 0 da/\ Sa | | ga | | -da/\F-Sa*M |
1880  * Qb | 0 0 0 0 -I 0 | | xb | = | F |
1881  * Gb | 0 0 0 -c*(F/\db/\-(Sb*M)/\) -db/\ -Sb | | gb | | db/\F+Sb*M |
1882  * F | -c*I c*da/\ c*I -c*db/\ 0 0 | | F | | xa+da-xb-db |
1883  * M1 | 0 c*Tb1^T*Ta3/\ 0 c*Ta3^T*Tb1/\ 0 0 | | M | | Sb^T*Ta3 |
1884  * M2 | 0 c*Tb2^T*Ta3/\ 0 c*Ta3^T*Tb2/\ 0 0 |
1885  *
1886  * con da = R1*d01, db = R2*d02, c = dCoef,
1887  * Sa = R1*R1h*[e1,e2], Sb = R2*R2h*[e1, e2],
1888  * Ta3 = R1*R1h*e3, Tb1 = R2*R2h*e1, Tb2 = R2*R2h*e2
1889  */
1890 
1891  /* Moltiplica il momento per il coefficiente del metodo */
1892  Vec3 MTmp = M*dCoef;
1893 
1894  Vec3 e3a(R1hTmp.GetVec(3));
1895  Vec3 e1b(R2hTmp.GetVec(1));
1896  Vec3 e2b(R2hTmp.GetVec(2));
1897  MTmp = e2b*MTmp.dGet(1)-e1b*MTmp.dGet(2);
1898 
1899  Mat3x3 MWedgee3aWedge(MatCrossCross, MTmp, e3a);
1900  Mat3x3 e3aWedgeMWedge(MatCrossCross, e3a, MTmp);
1901 
1902  WM.Sub(1, 1, MWedgee3aWedge);
1903  WM.Add(1, 4, e3aWedgeMWedge);
1904 
1905  WM.Add(4, 1, MWedgee3aWedge);
1906  WM.Sub(4, 4, e3aWedgeMWedge);
1907 
1908  /* Contributo del momento alle equazioni di equilibrio dei nodi */
1909  Vec3 Tmp1(e2b.Cross(e3a));
1910  Vec3 Tmp2(e3a.Cross(e1b));
1911 
1912  for (int iCnt = 1; iCnt <= 3; iCnt++) {
1913  doublereal d = Tmp1(iCnt);
1914  WM.PutCoef(iCnt, 7, d);
1915  WM.PutCoef(3+iCnt, 7, -d);
1916  d = Tmp2.dGet(iCnt);
1917  WM.PutCoef(iCnt, 8, d);
1918  WM.PutCoef(3+iCnt, 8, -d);
1919  }
1920 
1921  /* Modifica: divido le equazioni di vincolo per dCoef */
1922 
1923  /* Equazione di vincolo del momento
1924  *
1925  * Attenzione: bisogna scrivere il vettore trasposto
1926  * (Sb[1]^T*(Sa[3]/\))*dCoef
1927  * Questo pero' e' uguale a:
1928  * (-Sa[3]/\*Sb[1])^T*dCoef,
1929  * che puo' essere ulteriormente semplificato:
1930  * (Sa[3].Cross(Sb[1])*(-dCoef))^T;
1931  */
1932 
1933  for (int iCnt = 1; iCnt <= 3; iCnt++) {
1934  doublereal d = Tmp1.dGet(iCnt);
1935  WM.PutCoef(7, iCnt, d);
1936  WM.PutCoef(7, 3+iCnt, -d);
1937  d = Tmp2.dGet(iCnt);
1938  WM.PutCoef(8, iCnt, -d);
1939  WM.PutCoef(8, 3+iCnt, d);
1940  }
1941 
1942  return WorkMat;
1943 }
PlaneRotationJoint::WorkSpaceDim
void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: planej.h:283
FullSubMatrixHandler::PutColIndex
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
StructNode::GetRRef
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
Vec3
Definition: matvec3.h:98
VariableSubMatrixHandler::SetFull
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
FullSubMatrixHandler::Add
void Add(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:209
FullSubMatrixHandler::PutCoef
void PutCoef(integer iRow, integer iCol, const doublereal &dCoef)
Definition: submat.h:672
Vec3::dGet
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
DEBUGCOUT
#define DEBUGCOUT(msg)
Definition: myassert.h:232
StructDispNode::iGetFirstMomentumIndex
virtual integer iGetFirstMomentumIndex(void) const =0
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
FullSubMatrixHandler::ResizeReset
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
MatCrossCross
const MatCrossCross_Manip MatCrossCross
Definition: matvec3.cc:640
FullSubMatrixHandler::PutRowIndex
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
FullSubMatrixHandler::Sub
void Sub(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:215
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
doublereal
double doublereal
Definition: colamd.c:52
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
integer
long int integer
Definition: colamd.c:51

Here is the call graph for this function:

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

Implements Elem.

Definition at line 1947 of file planej.cc.

References VectorHandler::Add(), ASSERT, DEBUGCOUT, Vec3::dGet(), Vec3::Dot(), StructNode::GetRCurr(), Mat3x3::GetVec(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstMomentumIndex(), M, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), VectorHandler::Sub(), and WorkSpaceDim().

1951 {
1952  DEBUGCOUT("Entering PlaneRotationJoint::AssRes()" << std::endl);
1953 
1954  /* Dimensiona e resetta la matrice di lavoro */
1955  integer iNumRows = 0;
1956  integer iNumCols = 0;
1957  WorkSpaceDim(&iNumRows, &iNumCols);
1958  WorkVec.ResizeReset(iNumRows);
1959 
1960  /* Indici */
1961  integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex()+3;
1962  integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex()+3;
1963  integer iFirstReactionIndex = iGetFirstIndex();
1964 
1965  /* Indici dei nodi */
1966  for (int iCnt = 1; iCnt <= 3; iCnt++) {
1967  WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex+iCnt);
1968  WorkVec.PutRowIndex(3+iCnt, iNode2FirstMomIndex+iCnt);
1969  }
1970 
1971  /* Indici del vincolo */
1972  for (int iCnt = 1; iCnt <= 2; iCnt++) {
1973  WorkVec.PutRowIndex(6+iCnt, iFirstReactionIndex+iCnt);
1974  }
1975 
1976  /* Aggiorna i dati propri */
1977  M = Vec3(XCurr(iFirstReactionIndex+1),
1978  XCurr(iFirstReactionIndex+2),
1979  0.);
1980 
1981  /*
1982  * FIXME: provare a mettere "modificatori" di forza/momento sui gdl
1983  * residui: attrito, rigidezze e smorzamenti, ecc.
1984  */
1985 
1986  /* Recupera i dati */
1987  const Mat3x3& R1(pNode1->GetRCurr());
1988  const Mat3x3& R2(pNode2->GetRCurr());
1989 
1990  /* Costruisce i dati propri nella configurazione corrente */
1991  Mat3x3 R1hTmp(R1*R1h);
1992  Mat3x3 R2hTmp(R2*R2h);
1993 
1994  Vec3 e3a(R1hTmp.GetVec(3));
1995  Vec3 e1b(R2hTmp.GetVec(1));
1996  Vec3 e2b(R2hTmp.GetVec(2));
1997 
1998  Vec3 MTmp(e2b.Cross(e3a)*M.dGet(1)+e3a.Cross(e1b)*M.dGet(2));
1999 
2000  /* Equazioni di equilibrio, nodo 1 */
2001  WorkVec.Sub(1, MTmp); /* Sfrutto F/\d = -d/\F */
2002 
2003  /* Equazioni di equilibrio, nodo 2 */
2004  WorkVec.Add(4, MTmp);
2005 
2006  /* Modifica: divido le equazioni di vincolo per dCoef */
2007  ASSERT(dCoef != 0.);
2008 
2009  /* Equazioni di vincolo di rotazione */
2010  Vec3 Tmp = R1hTmp.GetVec(3);
2011  WorkVec.PutCoef(7, Tmp.Dot(R2hTmp.GetVec(2))/dCoef);
2012  WorkVec.PutCoef(8, Tmp.Dot(R2hTmp.GetVec(1))/dCoef);
2013 
2014  return WorkVec;
2015 }
PlaneRotationJoint::WorkSpaceDim
void WorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: planej.h:283
Vec3
Definition: matvec3.h:98
VectorHandler::ResizeReset
virtual void ResizeReset(integer)
Definition: vh.cc:55
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
Vec3::Dot
doublereal Dot(const Vec3 &v) const
Definition: matvec3.h:243
VectorHandler::Sub
virtual void Sub(integer iRow, const Vec3 &v)
Definition: vh.cc:78
SubVectorHandler::PutRowIndex
virtual void PutRowIndex(integer iSubRow, integer iRow)=0
Vec3::dGet
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
DEBUGCOUT
#define DEBUGCOUT(msg)
Definition: myassert.h:232
StructDispNode::iGetFirstMomentumIndex
virtual integer iGetFirstMomentumIndex(void) const =0
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
VectorHandler::PutCoef
virtual void PutCoef(integer iRow, const doublereal &dCoef)=0
VectorHandler::Add
virtual void Add(integer iRow, const Vec3 &v)
Definition: vh.cc:63
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
integer
long int integer
Definition: colamd.c:51

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std::ostream & PlaneRotationJoint::DescribeDof ( std::ostream &  out,
const char *  prefix = "",
bool  bInitial = false 
) const
virtual

Reimplemented from Elem.

Definition at line 1564 of file planej.cc.

References DofOwnerOwner::iGetFirstIndex().

1565 {
1566  integer iIndex = iGetFirstIndex();
1567 
1568  out
1569  << prefix << iIndex + 1 << "->" << iIndex + 2 << ": "
1570  "reaction couples [mx,my]" << std::endl;
1571 
1572  if (bInitial) {
1573  iIndex += 2;
1574  out
1575  << prefix << iIndex + 1 << "->" << iIndex + 2 << ": "
1576  "reaction couple derivatives [mPx,mPy]" << std::endl;
1577  }
1578 
1579  return out;
1580 }
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
integer
long int integer
Definition: colamd.c:51

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void PlaneRotationJoint::DescribeDof ( std::vector< std::string > &  desc,
bool  bInitial = false,
int  i = -1 
) const
virtual

Reimplemented from Elem.

Definition at line 1583 of file planej.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, and xyz.

1584 {
1585  std::ostringstream os;
1586  os << "PlaneRotationJoint(" << GetLabel() << ")";
1587 
1588  unsigned short nself = 2;
1589  if (bInitial) {
1590  nself *= 2;
1591  }
1592 
1593  if (i == -1) {
1594  desc.resize(nself);
1595  std::string name = os.str();
1596 
1597  for (unsigned i = 0; i < 2; i++) {
1598  os.str(name);
1599  os.seekp(0, std::ios_base::end);
1600  os << ": reaction couple m" << xyz[i];
1601  desc[i] = os.str();
1602  }
1603 
1604  if (bInitial) {
1605  for (unsigned i = 0; i < 2; i++) {
1606  os.str(name);
1607  os.seekp(0, std::ios_base::end);
1608  os << ": reaction couple derivative mP" << xyz[i];
1609  desc[2 + i] = os.str();
1610  }
1611  }
1612 
1613  } else {
1614  if (i < -1) {
1615  // error
1616  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
1617  }
1618 
1619  if (i >= nself) {
1620  // error
1621  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
1622  }
1623 
1624  desc.resize(1);
1625 
1626  switch (i) {
1627  case 0:
1628  case 1:
1629  os << ": reaction couple m" << xyz[i];
1630  break;
1631 
1632  case 2:
1633  case 3:
1634  os << ": reaction couple derivative mP" << xyz[i - 2];
1635  break;
1636  }
1637  desc[0] = os.str();
1638  }
1639 }
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
xyz
static const char xyz[]
Definition: planej.cc:133
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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std::ostream & PlaneRotationJoint::DescribeEq ( std::ostream &  out,
const char *  prefix = "",
bool  bInitial = false 
) const
virtual

Reimplemented from Elem.

Definition at line 1642 of file planej.cc.

References DofOwnerOwner::iGetFirstIndex().

1643 {
1644  integer iIndex = iGetFirstIndex();
1645 
1646  out
1647  << prefix << iIndex + 1 << "->" << iIndex + 2 << ": "
1648  "orientation constraints [gx1=gx2,gy1=gy2]" << std::endl;
1649 
1650  if (bInitial) {
1651  iIndex += 2;
1652  out
1653  << prefix << iIndex + 1 << "->" << iIndex + 2 << ": "
1654  "angular velocity constraints [wx1=wx2,wy1=wy2]" << std::endl;
1655  }
1656 
1657  return out;
1658 }
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
integer
long int integer
Definition: colamd.c:51

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void PlaneRotationJoint::DescribeEq ( std::vector< std::string > &  desc,
bool  bInitial = false,
int  i = -1 
) const
virtual

Reimplemented from Elem.

Definition at line 1661 of file planej.cc.

References WithLabel::GetLabel(), MBDYN_EXCEPT_ARGS, and xyz.

1662 {
1663  std::ostringstream os;
1664  os << "PlaneRotationJoint(" << GetLabel() << ")";
1665 
1666  unsigned short nself = 2;
1667  if (bInitial) {
1668  nself *= 2;
1669  }
1670 
1671  if (i == -1) {
1672  desc.resize(nself);
1673  std::string name = os.str();
1674 
1675  for (unsigned i = 0; i < 2; i++) {
1676  os.str(name);
1677  os.seekp(0, std::ios_base::end);
1678  os << ": orientation constraint g" << xyz[i];
1679  desc[i] = os.str();
1680  }
1681 
1682  if (bInitial) {
1683  for (unsigned i = 0; i < 2; i++) {
1684  os.str(name);
1685  os.seekp(0, std::ios_base::end);
1686  os << ": orientation constraint derivative w" << xyz[i];
1687  desc[2 + i] = os.str();
1688  }
1689  }
1690 
1691  } else {
1692  if (i < -1) {
1693  // error
1694  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
1695  }
1696 
1697  if (i >= nself) {
1698  // error
1699  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
1700  }
1701 
1702  desc.resize(1);
1703 
1704  switch (i) {
1705  case 0:
1706  case 1:
1707  os << ": orientation constraint g" << xyz[i];
1708  break;
1709 
1710  case 2:
1711  case 3:
1712  os << ": orientation constraint derivative w" << xyz[i - 2];
1713  break;
1714  }
1715  desc[0] = os.str();
1716  }
1717 }
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
xyz
static const char xyz[]
Definition: planej.cc:133
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Reimplemented from SimulationEntity.

Definition at line 2472 of file planej.cc.

References ASSERT, dThetaWrapped, WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), iGetNumPrivData(), M, M_PI, MBDYN_EXCEPT_ARGS, Mat3x3::MulTV(), NTheta, pNode1, pNode2, R1h, R2h, and RotManip::VecRot().

2473 {
2474  ASSERT(i >= 1 && i <= iGetNumPrivData());
2475 
2476  switch (i) {
2477  case 1: {
2478  Vec3 v(RotManip::VecRot((pNode1->GetRCurr()*R1h).MulTM(pNode2->GetRCurr()*R2h)));
2479  doublereal dThetaTmp(v(3));
2480 
2481  int n = 0;
2482 
2483  if (dThetaTmp - dThetaWrapped < -M_PI) {
2484  n++;
2485  }
2486 
2487  if (dThetaTmp - dThetaWrapped > M_PI) {
2488  n--;
2489  }
2490 
2491  return 2*M_PI*(NTheta + n) + dThetaTmp;
2492  }
2493 
2494  case 2: {
2495  Mat3x3 R2Tmp((pNode2->GetRCurr()*R2h));
2496  Vec3 v(R2Tmp.MulTV(pNode2->GetWCurr()-pNode1->GetWCurr()));
2497 
2498  return v(3);
2499  }
2500 
2501  case 3:
2502  case 4:
2503  case 5:
2504  return M(i - 2);
2505  }
2506 
2507  silent_cerr("PlaneRotationJoint(" << GetLabel() << "): "
2508  "illegal private data " << i << std::endl);
2509  throw ErrGeneric(MBDYN_EXCEPT_ARGS);
2510 }
M_PI
#define M_PI
Definition: gradienttest.cc:67
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
RotManip::VecRot
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
PlaneRotationJoint::dThetaWrapped
doublereal dThetaWrapped
Definition: planej.h:222
PlaneRotationJoint::iGetNumPrivData
virtual unsigned int iGetNumPrivData(void) const
Definition: planej.cc:2432
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
doublereal
double doublereal
Definition: colamd.c:52
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Reimplemented from Elem.

Definition at line 331 of file planej.h.

References pNode1, and pNode2.

331  {
332  connectedNodes.resize(2);
333  connectedNodes[0] = pNode1;
334  connectedNodes[1] = pNode2;
335  };
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
DofOrder::Order PlaneRotationJoint::GetDofType ( unsigned int  i) const
inlinevirtual

Reimplemented from Elem.

Definition at line 268 of file planej.h.

References DofOrder::ALGEBRAIC, and ASSERT.

268  {
269  ASSERT(i >= 0 && i < 2);
270  return DofOrder::ALGEBRAIC;
271  };
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
DofOrder::Order PlaneRotationJoint::GetEqType ( unsigned int  i) const
virtual

Reimplemented from SimulationEntity.

Definition at line 2018 of file planej.cc.

References DofOrder::ALGEBRAIC, ASSERTMSGBREAK, and iGetNumDof().

2019 {
2020  ASSERTMSGBREAK(i < iGetNumDof(),
2021  "INDEX ERROR in PlaneRotationJoint::GetEqType");
2022  return DofOrder::ALGEBRAIC;
2023 }
PlaneRotationJoint::iGetNumDof
virtual unsigned int iGetNumDof(void) const
Definition: planej.h:250
ASSERTMSGBREAK
#define ASSERTMSGBREAK(expr, msg)
Definition: myassert.h:222

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virtual Joint::Type PlaneRotationJoint::GetJointType ( void  ) const
inlinevirtual

Implements Joint.

Definition at line 246 of file planej.h.

References Joint::PLANEROTATION.

246  {
247  return Joint::PLANEROTATION;
248  };
virtual unsigned int PlaneRotationJoint::iGetInitialNumDof ( void  ) const
inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 306 of file planej.h.

306  {
307  return 2+2;
308  };
virtual unsigned int PlaneRotationJoint::iGetNumDof ( void  ) const
inlinevirtual

Reimplemented from Elem.

Definition at line 250 of file planej.h.

Referenced by GetEqType().

250  {
251  return 2;
252  };
unsigned int PlaneRotationJoint::iGetNumPrivData ( void  ) const
virtual

Reimplemented from SimulationEntity.

Definition at line 2432 of file planej.cc.

Referenced by dGetPrivData().

2433 {
2434  return 5;
2435 }
unsigned int PlaneRotationJoint::iGetPrivDataIdx ( const char *  s) const
virtual

Reimplemented from SimulationEntity.

Definition at line 2438 of file planej.cc.

References ASSERT.

2439 {
2440  ASSERT(s != NULL);
2441 
2442  unsigned int idx = 0;
2443 
2444  switch (s[0]) {
2445  case 'w':
2446  idx++;
2447  case 'r':
2448  idx++;
2449  if (s[1] == 'z') {
2450  return idx;
2451  }
2452  break;
2453 
2454  case 'M':
2455  idx += 2;
2456 
2457  switch (s[1]) {
2458  case 'x':
2459  return idx + 1;
2460 
2461  case 'y':
2462  return idx + 2;
2463 
2464  case 'z':
2465  return idx + 3;
2466  }
2467  }
2468 
2469  return 0;
2470 }
ASSERT
#define ASSERT(expression)
Definition: colamd.c:977
VariableSubMatrixHandler & PlaneRotationJoint::InitialAssJac ( VariableSubMatrixHandler &  WorkMat,
const VectorHandler &  XCurr 
)
virtual

Implements SubjectToInitialAssembly.

Definition at line 2133 of file planej.cc.

References FullSubMatrixHandler::Add(), Vec3::Cross(), Vec3::dGet(), WithLabel::GetLabel(), StructNode::GetRRef(), Mat3x3::GetVec(), StructNode::GetWRef(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, MatCross, MatCrossCross, MBDYN_EXCEPT_ARGS, pNode1, pNode2, FullSubMatrixHandler::PutCoef(), FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), R1h, R2h, FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and FullSubMatrixHandler::Sub().

2135 {
2136  /* Per ora usa la matrice piena; eventualmente si puo'
2137  * passare a quella sparsa quando si ottimizza */
2138  FullSubMatrixHandler& WM = WorkMat.SetFull();
2139 
2140  /* Dimensiona e resetta la matrice di lavoro */
2141  integer iNumRows = 0;
2142  integer iNumCols = 0;
2143  InitialWorkSpaceDim(&iNumRows, &iNumCols);
2144  WM.ResizeReset(iNumRows, iNumCols);
2145 
2146  /* Equazioni: vedi joints.dvi */
2147 
2148  /* equazioni ed incognite
2149  * F1 Delta_x1 0+1 = 1
2150  * M1 Delta_g1 3+1 = 4
2151  * FP1 Delta_xP1 6+1 = 7
2152  * MP1 Delta_w1 9+1 = 10
2153  * F2 Delta_x2 12+1 = 13
2154  * M2 Delta_g2 15+1 = 16
2155  * FP2 Delta_xP2 18+1 = 19
2156  * MP2 Delta_w2 21+1 = 22
2157  * vincolo spostamento Delta_F 24+1 = 25
2158  * vincolo rotazione Delta_M 27+1 = 28
2159  * derivata vincolo spostamento Delta_FP 29+1 = 30
2160  * derivata vincolo rotazione Delta_MP 32+1 = 33
2161  */
2162 
2163 
2164  /* Indici */
2165  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
2166  integer iNode1FirstVelIndex = iNode1FirstPosIndex+6+3;
2167  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
2168  integer iNode2FirstVelIndex = iNode2FirstPosIndex+6+3;
2169  integer iFirstReactionIndex = iGetFirstIndex();
2170  integer iReactionPrimeIndex = iFirstReactionIndex+2;
2171 
2172  /* Nota: le reazioni vincolari sono:
2173  * Forza, 3 incognite, riferimento globale,
2174  * Momento, 2 incognite, riferimento locale
2175  */
2176 
2177  /* Setta gli indici dei nodi */
2178  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2179  WM.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
2180  WM.PutColIndex(iCnt, iNode1FirstPosIndex+iCnt);
2181  WM.PutRowIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
2182  WM.PutColIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
2183  WM.PutRowIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
2184  WM.PutColIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
2185  WM.PutRowIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
2186  WM.PutColIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
2187  }
2188 
2189  /* Setta gli indici delle reazioni */
2190  for (int iCnt = 1; iCnt <= 4; iCnt++) {
2191  WM.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
2192  WM.PutColIndex(12+iCnt, iFirstReactionIndex+iCnt);
2193  }
2194 
2195 
2196  /* Recupera i dati */
2197  const Mat3x3& R1(pNode1->GetRRef());
2198  const Mat3x3& R2(pNode2->GetRRef());
2199  const Vec3& Omega1(pNode1->GetWRef());
2200  const Vec3& Omega2(pNode2->GetWRef());
2201 
2202  /* F ed M sono gia' state aggiornate da InitialAssRes */
2203  Vec3 MPrime(XCurr(iReactionPrimeIndex+1),
2204  XCurr(iReactionPrimeIndex+2),
2205  0.);
2206 
2207  /* Matrici identita' */
2208  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2209  /* Contributo di forza all'equazione della forza, nodo 1 */
2210  WM.PutCoef(iCnt, 12+iCnt, 1.);
2211 
2212  /* Contrib. di der. di forza all'eq. della der. della forza, nodo 1 */
2213  WM.PutCoef(3+iCnt, 14+iCnt, 1.);
2214 
2215  /* Contributo di forza all'equazione della forza, nodo 2 */
2216  WM.PutCoef(6+iCnt, 12+iCnt, -1.);
2217 
2218  /* Contrib. di der. di forza all'eq. della der. della forza, nodo 2 */
2219  WM.PutCoef(9+iCnt, 14+iCnt, -1.);
2220  }
2221 
2222  /* Matrici di rotazione dai nodi alla cerniera nel sistema globale */
2223  Mat3x3 R1hTmp(R1*R1h);
2224  Mat3x3 R2hTmp(R2*R2h);
2225 
2226  Vec3 e3a(R1hTmp.GetVec(3));
2227  Vec3 e1b(R2hTmp.GetVec(1));
2228  Vec3 e2b(R2hTmp.GetVec(2));
2229 
2230  /* Ruota il momento e la sua derivata con le matrici della cerniera
2231  * rispetto ai nodi */
2232  Vec3 MTmp(e2b*M.dGet(1)-e1b*M.dGet(2));
2233  Vec3 MPrimeTmp(e2b*MPrime.dGet(1)-e1b*MPrime.dGet(2));
2234 
2235  Mat3x3 MDeltag1((Mat3x3(MatCross, Omega2.Cross(MTmp) + MPrimeTmp)
2236  + Mat3x3(MatCrossCross, MTmp, Omega1))*Mat3x3(MatCross, e3a));
2237  Mat3x3 MDeltag2(Mat3x3(MatCrossCross, Omega1.Cross(e3a), MTmp)
2238  + Mat3x3(MatCrossCross, e3a, MPrimeTmp)
2239  + e3a.Cross(Mat3x3(MatCrossCross, Omega2, MTmp)));
2240 
2241  /* Vettori temporanei */
2242  Vec3 Tmp1(e2b.Cross(e3a));
2243  Vec3 Tmp2(e3a.Cross(e1b));
2244 
2245  /* Prodotto vettore tra il versore 3 della cerniera secondo il nodo 1
2246  * ed il versore 1 della cerniera secondo il nodo 2. A convergenza
2247  * devono essere ortogonali, quindi il loro prodotto vettore deve essere
2248  * unitario */
2249 
2250  /* Error handling: il programma si ferma, pero' segnala dov'e' l'errore */
2251  if (Tmp1.Dot() <= std::numeric_limits<doublereal>::epsilon() || Tmp2.Dot() <= std::numeric_limits<doublereal>::epsilon()) {
2252  silent_cerr("PlaneRotationJoint(" << GetLabel() << "): "
2253  "first and second node hinge axes are (nearly) orthogonal"
2254  << std::endl);
2255  throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
2256  }
2257 
2258  Vec3 TmpPrime1(e2b.Cross(Omega1.Cross(e3a))-e3a.Cross(Omega2.Cross(e2b)));
2259  Vec3 TmpPrime2(e3a.Cross(Omega2.Cross(e1b))-e1b.Cross(Omega1.Cross(e3a)));
2260 
2261  /* Equazione di momento, nodo 1 */
2262  WM.Sub(4, 4, Mat3x3(MatCrossCross, MTmp, e3a));
2263  WM.Add(4, 16, Mat3x3(MatCrossCross, e3a, MTmp));
2264  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2265  WM.PutCoef(iCnt, 13, Tmp1.dGet(iCnt));
2266  WM.PutCoef(iCnt, 14, Tmp2.dGet(iCnt));
2267  }
2268 
2269  /* Equazione di momento, nodo 2 */
2270  WM.Add(7, 1, Mat3x3(MatCrossCross, MTmp, e3a));
2271  WM.Sub(7, 7, Mat3x3(MatCrossCross, e3a, MTmp));
2272  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2273  WM.PutCoef(6+iCnt, 13, -Tmp1(iCnt));
2274  WM.PutCoef(6+iCnt, 14, -Tmp2(iCnt));
2275  }
2276 
2277  /* Derivata dell'equazione di momento, nodo 1 */
2278  WM.Sub(4, 1, MDeltag1);
2279  WM.Sub(4, 4, Mat3x3(MatCrossCross, MTmp, e3a));
2280  WM.Add(4, 7, MDeltag2);
2281  WM.Add(4, 10, Mat3x3(MatCrossCross, e3a, MTmp));
2282 
2283  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2284  WM.PutCoef(3+iCnt, 13, TmpPrime1(iCnt));
2285  WM.PutCoef(3+iCnt, 14, TmpPrime2(iCnt));
2286  WM.PutCoef(3+iCnt, 15, Tmp1(iCnt));
2287  WM.PutCoef(3+iCnt, 16, Tmp2(iCnt));
2288  }
2289 
2290  /* Derivata dell'equazione di momento, nodo 2 */
2291  WM.Add(10, 1, MDeltag1);
2292  WM.Add(10, 4, Mat3x3(MatCrossCross, MTmp, e3a));
2293  WM.Sub(10, 7, MDeltag2);
2294  WM.Sub(10, 10, Mat3x3(MatCrossCross, e3a, MTmp));
2295 
2296  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2297  WM.PutCoef(9+iCnt, 13, -TmpPrime1(iCnt));
2298  WM.PutCoef(9+iCnt, 14, -TmpPrime2(iCnt));
2299  WM.PutCoef(9+iCnt, 15, -Tmp1(iCnt));
2300  WM.PutCoef(9+iCnt, 16, -Tmp2(iCnt));
2301  }
2302 
2303  /* Equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */
2304 
2305  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2306  doublereal d = Tmp1(iCnt);
2307  WM.PutCoef(13, iCnt, d);
2308  WM.PutCoef(13, 6+iCnt, -d);
2309 
2310  /* Queste sono per la derivata dell'equazione, sono qui solo per
2311  * ottimizzazione */
2312  WM.PutCoef(15, 3+iCnt, d);
2313  WM.PutCoef(15, 9+iCnt, -d);
2314 
2315  d = Tmp2(iCnt);
2316  WM.PutCoef(14, iCnt, -d);
2317  WM.PutCoef(14, 6+iCnt, d);
2318 
2319  /* Queste sono per la derivata dell'equazione, sono qui solo per
2320  * ottimizzazione */
2321  WM.PutCoef(16, 3+iCnt, -d);
2322  WM.PutCoef(16, 9+iCnt, d);
2323  }
2324 
2325  /* Derivate delle equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */
2326  Vec3 O1mO2(Omega1 - Omega2);
2327  TmpPrime1 = e3a.Cross(O1mO2.Cross(e2b));
2328  TmpPrime2 = e2b.Cross(e3a.Cross(O1mO2));
2329  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2330  WM.PutCoef(15, iCnt, TmpPrime1(iCnt));
2331  WM.PutCoef(15, 6+iCnt, TmpPrime2(iCnt));
2332  }
2333 
2334  TmpPrime1 = e3a.Cross(O1mO2.Cross(e1b));
2335  TmpPrime2 = e1b.Cross(e3a.Cross(O1mO2));
2336  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2337  WM.PutCoef(16, iCnt, TmpPrime1(iCnt));
2338  WM.PutCoef(16, 6+iCnt, TmpPrime2(iCnt));
2339  }
2340 
2341  return WorkMat;
2342 }
FullSubMatrixHandler::PutColIndex
void PutColIndex(integer iSubCol, integer iCol)
Definition: submat.h:325
StructNode::GetRRef
virtual const Mat3x3 & GetRRef(void) const
Definition: strnode.h:1006
MBDYN_EXCEPT_ARGS
#define MBDYN_EXCEPT_ARGS
Definition: except.h:63
Vec3
Definition: matvec3.h:98
MatCross
const MatCross_Manip MatCross
Definition: matvec3.cc:639
VariableSubMatrixHandler::SetFull
FullSubMatrixHandler & SetFull(void)
Definition: submat.h:1168
FullSubMatrixHandler::Add
void Add(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:209
FullSubMatrixHandler::PutCoef
void PutCoef(integer iRow, integer iCol, const doublereal &dCoef)
Definition: submat.h:672
StructNode::GetWRef
virtual const Vec3 & GetWRef(void) const
Definition: strnode.h:1024
Vec3::dGet
const doublereal & dGet(unsigned short int iRow) const
Definition: matvec3.h:285
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
FullSubMatrixHandler::ResizeReset
virtual void ResizeReset(integer, integer)
Definition: submat.cc:182
MatCrossCross
const MatCrossCross_Manip MatCrossCross
Definition: matvec3.cc:640
PlaneRotationJoint::InitialWorkSpaceDim
virtual void InitialWorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: planej.h:309
FullSubMatrixHandler::PutRowIndex
void PutRowIndex(integer iSubRow, integer iRow)
Definition: submat.h:311
FullSubMatrixHandler::Sub
void Sub(integer iRow, integer iCol, const Vec3 &v)
Definition: submat.cc:215
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
doublereal
double doublereal
Definition: colamd.c:52
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
integer
long int integer
Definition: colamd.c:51
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Implements SubjectToInitialAssembly.

Definition at line 2347 of file planej.cc.

References VectorHandler::Add(), grad::Cross(), DEBUGCOUT, Vec3::dGet(), StructNode::GetRCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), DofOwnerOwner::iGetFirstIndex(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), M, pNode1, pNode2, VectorHandler::PutCoef(), SubVectorHandler::PutRowIndex(), R1h, R2h, VectorHandler::ResizeReset(), and VectorHandler::Sub().

2349 {
2350  DEBUGCOUT("Entering PlaneRotationJoint::InitialAssRes()" << std::endl);
2351 
2352  /* Dimensiona e resetta la matrice di lavoro */
2353  integer iNumRows = 0;
2354  integer iNumCols = 0;
2355  InitialWorkSpaceDim(&iNumRows, &iNumCols);
2356  WorkVec.ResizeReset(iNumRows);
2357 
2358  /* Indici */
2359  integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex()+3;
2360  integer iNode1FirstVelIndex = iNode1FirstPosIndex+6+3;
2361  integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex()+3;
2362  integer iNode2FirstVelIndex = iNode2FirstPosIndex+6+3;
2363  integer iFirstReactionIndex = iGetFirstIndex();
2364  integer iReactionPrimeIndex = iFirstReactionIndex+2;
2365 
2366  /* Setta gli indici */
2367  for (int iCnt = 1; iCnt <= 3; iCnt++) {
2368  WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex+iCnt);
2369  WorkVec.PutRowIndex(3+iCnt, iNode1FirstVelIndex+iCnt);
2370  WorkVec.PutRowIndex(6+iCnt, iNode2FirstPosIndex+iCnt);
2371  WorkVec.PutRowIndex(9+iCnt, iNode2FirstVelIndex+iCnt);
2372  }
2373 
2374  for (int iCnt = 1; iCnt <= 4; iCnt++) {
2375  WorkVec.PutRowIndex(12+iCnt, iFirstReactionIndex+iCnt);
2376  }
2377 
2378  /* Recupera i dati */
2379  const Mat3x3& R1(pNode1->GetRCurr());
2380  const Mat3x3& R2(pNode2->GetRCurr());
2381  const Vec3& Omega1(pNode1->GetWCurr());
2382  const Vec3& Omega2(pNode2->GetWCurr());
2383 
2384  /* Aggiorna F ed M, che restano anche per InitialAssJac */
2385  M = Vec3(XCurr(iFirstReactionIndex+1),
2386  XCurr(iFirstReactionIndex+2),
2387  0.);
2388  Vec3 MPrime(XCurr(iReactionPrimeIndex+1),
2389  XCurr(iReactionPrimeIndex+2),
2390  0.);
2391 
2392  /* Distanza nel sistema globale */
2393  Mat3x3 R1hTmp(R1*R1h);
2394  Mat3x3 R2hTmp(R2*R2h);
2395 
2396  Vec3 e3a(R1hTmp.GetVec(3));
2397  Vec3 e1b(R2hTmp.GetVec(1));
2398  Vec3 e2b(R2hTmp.GetVec(2));
2399 
2400  /* Ruota il momento e la sua derivata con le matrici della cerniera
2401  * rispetto ai nodi */
2402  Vec3 MTmp(e2b*M.dGet(1)-e1b*M.dGet(2));
2403  Vec3 MPrimeTmp(e3a.Cross(MTmp.Cross(Omega2))+MTmp.Cross(Omega1.Cross(e3a))+
2404  e2b.Cross(e3a)*MPrime.dGet(1)+e3a.Cross(e1b)*MPrime.dGet(2));
2405 
2406  /* Equazioni di equilibrio, nodo 1 */
2407  WorkVec.Sub(1, MTmp.Cross(e3a));
2408 
2409  /* Derivate delle equazioni di equilibrio, nodo 1 */
2410  WorkVec.Sub(4, MPrimeTmp);
2411 
2412  /* Equazioni di equilibrio, nodo 2 */
2413  WorkVec.Add(7, MTmp.Cross(e3a));
2414 
2415  /* Derivate delle equazioni di equilibrio, nodo 2 */
2416  WorkVec.Add(10, MPrimeTmp);
2417 
2418  /* Equazioni di vincolo di rotazione */
2419  WorkVec.PutCoef(13, e2b.Dot(e3a));
2420  WorkVec.PutCoef(14, e1b.Dot(e3a));
2421 
2422  /* Derivate delle equazioni di vincolo di rotazione: e1b~e3a, e2b~e3a */
2423  Vec3 Tmp((Omega1-Omega2).Cross(e3a));
2424  WorkVec.PutCoef(15, e2b.Dot(Tmp));
2425  WorkVec.PutCoef(16, e1b.Dot(Tmp));
2426 
2427  return WorkVec;
2428 }
Vec3
Definition: matvec3.h:98
VectorHandler::ResizeReset
virtual void ResizeReset(integer)
Definition: vh.cc:55
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
VectorHandler::Sub
virtual void Sub(integer iRow, const Vec3 &v)
Definition: vh.cc:78
SubVectorHandler::PutRowIndex
virtual void PutRowIndex(integer iSubRow, integer iRow)=0
DEBUGCOUT
#define DEBUGCOUT(msg)
Definition: myassert.h:232
StructDispNode::iGetFirstPositionIndex
virtual integer iGetFirstPositionIndex(void) const
Definition: strnode.h:452
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
VectorHandler::PutCoef
virtual void PutCoef(integer iRow, const doublereal &dCoef)=0
grad::Cross
VectorExpression< VectorCrossExpr< VectorLhsExpr, VectorRhsExpr >, 3 > Cross(const VectorExpression< VectorLhsExpr, 3 > &u, const VectorExpression< VectorRhsExpr, 3 > &v)
Definition: matvec.h:3248
VectorHandler::Add
virtual void Add(integer iRow, const Vec3 &v)
Definition: vh.cc:63
PlaneRotationJoint::InitialWorkSpaceDim
virtual void InitialWorkSpaceDim(integer *piNumRows, integer *piNumCols) const
Definition: planej.h:309
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
DofOwnerOwner::iGetFirstIndex
virtual integer iGetFirstIndex(void) const
Definition: dofown.h:127
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
integer
long int integer
Definition: colamd.c:51

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

Implements SubjectToInitialAssembly.

Definition at line 309 of file planej.h.

Referenced by InitialAssJac(), and InitialAssRes().

310  {
311  *piNumRows = 3+3+3+3+2+2;
312  *piNumCols = 3+3+3+3+2+2;
313  };
void PlaneRotationJoint::Output ( OutputHandler &  OH) const
virtual

Reimplemented from ToBeOutput.

Definition at line 2045 of file planej.cc.

References ToBeOutput::bToBeOutput(), dRaDegr, EULER_123, EULER_313, EULER_321, OutputHandler::GetCurrentStep(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructNode::GetWCurr(), OutputHandler::JOINTS, OutputHandler::Joints(), M, MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, Joint::Output(), Vec3::pGetVec(), pNode1, pNode2, R1h, R2h, OutputHandler::UseNetCDF(), OutputHandler::UseText(), RotManip::VecRot(), and Zero3.

2046 {
2047  if (bToBeOutput()) {
2048  Mat3x3 R2Tmp(pNode2->GetRCurr()*R2h);
2049  Mat3x3 RTmp((pNode1->GetRCurr()*R1h).MulTM(R2Tmp));
2050  Vec3 E;
2051  switch (od) {
2052  case EULER_123:
2053  E = MatR2EulerAngles123(RTmp)*dRaDegr;
2054  break;
2055 
2056  case EULER_313:
2057  E = MatR2EulerAngles313(RTmp)*dRaDegr;
2058  break;
2059 
2060  case EULER_321:
2061  E = MatR2EulerAngles321(RTmp)*dRaDegr;
2062  break;
2063 
2064  case ORIENTATION_VECTOR:
2065  E = RotManip::VecRot(RTmp);
2066  break;
2067 
2068  case ORIENTATION_MATRIX:
2069  break;
2070 
2071  default:
2072  /* impossible */
2073  break;
2074  }
2075  Vec3 OmegaTmp(R2Tmp.MulTV(pNode2->GetWCurr()-pNode1->GetWCurr()));
2076 
2077 #ifdef USE_NETCDF
2078  if (OH.UseNetCDF(OutputHandler::JOINTS)) {
2079  Var_F_local->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
2080  Var_M_local->put_rec(M.pGetVec(), OH.GetCurrentStep());
2081  Var_F_global->put_rec(Zero3.pGetVec(), OH.GetCurrentStep());
2082  Var_M_global->put_rec((R2Tmp*M).pGetVec(), OH.GetCurrentStep());
2083  switch (od) {
2084  case EULER_123:
2085  case EULER_313:
2086  case EULER_321:
2087  case ORIENTATION_VECTOR:
2088  Var_Phi->put_rec(E.pGetVec(), OH.GetCurrentStep());
2089  break;
2090 
2091  case ORIENTATION_MATRIX:
2092  Var_Phi->put_rec(RTmp.pGetMat(), OH.GetCurrentStep());
2093  break;
2094 
2095  default:
2096  /* impossible */
2097  break;
2098  }
2099 
2100  Var_Omega->put_rec(OmegaTmp.pGetVec(), OH.GetCurrentStep());
2101  }
2102 #endif // USE_NETCDF
2103  if (OH.UseText(OutputHandler::JOINTS)) {
2104  Joint::Output(OH.Joints(), "PlaneRotation", GetLabel(),
2105  Zero3, M, Zero3, R2Tmp*M)
2106  << " ";
2107 
2108  switch (od) {
2109  case EULER_123:
2110  case EULER_313:
2111  case EULER_321:
2112  case ORIENTATION_VECTOR:
2113  OH.Joints() << E;
2114  break;
2115 
2116  case ORIENTATION_MATRIX:
2117  OH.Joints() << RTmp;
2118  break;
2119 
2120  default:
2121  /* impossible */
2122  break;
2123  }
2124 
2125  OH.Joints() << " " << OmegaTmp << std::endl;
2126  }
2127  }
2128 }
Zero3
const Vec3 Zero3(0., 0., 0.)
ToBeOutput::bToBeOutput
virtual bool bToBeOutput(void) const
Definition: output.cc:890
PlaneRotationJoint::od
OrientationDescription od
Definition: planej.h:229
Vec3
Definition: matvec3.h:98
OutputHandler::UseNetCDF
bool UseNetCDF(int out) const
Definition: output.cc:491
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
RotManip::VecRot
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
MatR2EulerAngles313
Vec3 MatR2EulerAngles313(const Mat3x3 &R)
Definition: matvec3.cc:927
OutputHandler::GetCurrentStep
long GetCurrentStep(void) const
Definition: output.h:116
MatR2EulerAngles123
Vec3 MatR2EulerAngles123(const Mat3x3 &R)
Definition: matvec3.cc:893
StructNode::GetWCurr
virtual const Vec3 & GetWCurr(void) const
Definition: strnode.h:1030
dRaDegr
const doublereal dRaDegr
Definition: matvec3.cc:884
OutputHandler::Joints
std::ostream & Joints(void) const
Definition: output.h:443
Vec3::pGetVec
const doublereal * pGetVec(void) const
Definition: matvec3.h:192
MatR2EulerAngles321
Vec3 MatR2EulerAngles321(const Mat3x3 &R)
Definition: matvec3.cc:941
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
Joint::Output
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
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62
OutputHandler::UseText
bool UseText(int out) const
Definition: output.cc:446

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void PlaneRotationJoint::OutputPrepare ( OutputHandler &  OH)
virtual

Reimplemented from ToBeOutput.

Definition at line 2027 of file planej.cc.

References ToBeOutput::bToBeOutput(), OutputHandler::JOINTS, od, Joint::OutputPrepare_int(), and OutputHandler::UseNetCDF().

2028 {
2029  if (bToBeOutput()) {
2030 #ifdef USE_NETCDF
2031  if (OH.UseNetCDF(OutputHandler::JOINTS)) {
2032  std::string name;
2033  OutputPrepare_int("revolute rotation", OH, name);
2034 
2035  Var_Phi = OH.CreateRotationVar(name, "", od, "global");
2036 
2037  Var_Omega = OH.CreateVar<Vec3>(name + "Omega", "radian/s",
2038  "local relative angular velocity (x, y, z)");
2039  }
2040 #endif // USE_NETCDF
2041  }
2042 }
ToBeOutput::bToBeOutput
virtual bool bToBeOutput(void) const
Definition: output.cc:890
PlaneRotationJoint::od
OrientationDescription od
Definition: planej.h:229
Vec3
Definition: matvec3.h:98
OutputHandler::UseNetCDF
bool UseNetCDF(int out) const
Definition: output.cc:491
Joint::OutputPrepare_int
virtual void OutputPrepare_int(const std::string &type, OutputHandler &OH, std::string &name)
Definition: joint.cc:107

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

Reimplemented from SimulationEntity.

Definition at line 1750 of file planej.cc.

References STRLENOF.

1751 {
1752  if (strncasecmp(s, "hinge{" /*}*/, STRLENOF("hinge{" /*}*/)) == 0) {
1753  s += STRLENOF("hinge{" /*}*/);
1754 
1755  if (strcmp(&s[1], /*{*/ "}") != 0) {
1756  return 0;
1757  }
1758 
1759  switch (s[0]) {
1760  case '1':
1761  return new Joint::HingeHint<1>;
1762 
1763  case '2':
1764  return new Joint::HingeHint<2>;
1765  }
1766  }
1767 
1768  return 0;
1769 }
STRLENOF
#define STRLENOF(s)
Definition: mbdyn.h:166
std::ostream & PlaneRotationJoint::Restart ( std::ostream &  out) const
virtual

Implements Elem.

Definition at line 1796 of file planej.cc.

References WithLabel::GetLabel(), Mat3x3::GetVec(), pNode1, pNode2, R1h, R2h, Joint::Restart(), and Write().

1797 {
1798  Joint::Restart(out) << ", revolute hinge, "
1799  << pNode1->GetLabel()
1800  << ", hinge, reference, node, 1, ", (R1h.GetVec(1)).Write(out, ", ")
1801  << ", 2, ", (R1h.GetVec(2)).Write(out, ", ") << ", "
1802  << pNode2->GetLabel()
1803  << ", hinge, reference, node, 1, ", (R2h.GetVec(1)).Write(out, ", ")
1804  << ", 2, ", (R2h.GetVec(2)).Write(out, ", ") << ';' << std::endl;
1805 
1806  return out;
1807 }
Write
std::ostream & Write(std::ostream &out, const FullMatrixHandler &m, const char *s, const char *s2)
Definition: fullmh.cc:376
Mat3x3::GetVec
Vec3 GetVec(unsigned short int i) const
Definition: matvec3.h:893
Joint::Restart
virtual std::ostream & Restart(std::ostream &out) const
Definition: joint.h:195
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216
WithLabel::GetLabel
unsigned int GetLabel(void) const
Definition: withlab.cc:62

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

Reimplemented from Joint.

Definition at line 1720 of file planej.cc.

References dTheta, dThetaWrapped, StructNode::GetRCurr(), Mat3x3::MulTM(), pNode1, pNode2, R1h, R2h, and RotManip::VecRot().

1723 {
1724  if (ph) {
1725  for (unsigned i = 0; i < ph->size(); i++) {
1726  Joint::JointHint *pjh = dynamic_cast<Joint::JointHint *>((*ph)[i]);
1727 
1728  if (pjh == 0) {
1729  continue;
1730  }
1731 
1732  if (dynamic_cast<Joint::HingeHint<1> *>(pjh)) {
1733  R1h = pNode1->GetRCurr().MulTM(pNode2->GetRCurr()*R2h);
1734 
1735  } else if (dynamic_cast<Joint::HingeHint<2> *>(pjh)) {
1736  R2h = pNode2->GetRCurr().MulTM(pNode1->GetRCurr()*R1h);
1737 
1738  } else if (dynamic_cast<Joint::ReactionsHint *>(pjh)) {
1739  /* TODO */
1740  }
1741  }
1742  }
1743 
1744  Vec3 v(RotManip::VecRot((pNode1->GetRCurr()*R1h).MulTM(pNode2->GetRCurr()*R2h)));
1745 
1746  dThetaWrapped = dTheta = v.dGet(3);
1747 }
Vec3
Definition: matvec3.h:98
StructNode::GetRCurr
virtual const Mat3x3 & GetRCurr(void) const
Definition: strnode.h:1012
RotManip::VecRot
Vec3 VecRot(const Mat3x3 &Phi)
Definition: Rot.cc:136
PlaneRotationJoint::dThetaWrapped
doublereal dThetaWrapped
Definition: planej.h:222
PlaneRotationJoint::dTheta
doublereal dTheta
Definition: planej.h:222
Mat3x3::MulTM
Mat3x3 MulTM(const Mat3x3 &m) const
Definition: matvec3.cc:500
PlaneRotationJoint::pNode2
const StructNode * pNode2
Definition: planej.h:217
PlaneRotationJoint::pNode1
const StructNode * pNode1
Definition: planej.h:216

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void PlaneRotationJoint::WorkSpaceDim ( integer *  piNumRows,
integer *  piNumCols 
) const
inlinevirtual

Implements Elem.

Definition at line 283 of file planej.h.

Referenced by AssJac(), and AssRes().

283  {
284  *piNumRows = 3+3+2;
285  *piNumCols = 3+3+2;
286  };

Member Data Documentation

doublereal PlaneRotationJoint::dTheta
mutableprivate

Definition at line 222 of file planej.h.

Referenced by AfterConvergence(), and SetValue().

doublereal PlaneRotationJoint::dThetaWrapped
mutableprivate

Definition at line 222 of file planej.h.

Referenced by AfterConvergence(), dGetPrivData(), and SetValue().

Vec3 PlaneRotationJoint::M
private

Definition at line 220 of file planej.h.

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

int PlaneRotationJoint::NTheta
mutableprivate

Definition at line 221 of file planej.h.

Referenced by AfterConvergence(), and dGetPrivData().

OrientationDescription PlaneRotationJoint::od
protected

Definition at line 229 of file planej.h.

Referenced by Output(), and OutputPrepare().

const StructNode* PlaneRotationJoint::pNode1
private

Definition at line 216 of file planej.h.

Referenced by AfterConvergence(), AssJac(), AssRes(), dGetPrivData(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

const StructNode* PlaneRotationJoint::pNode2
private

Definition at line 217 of file planej.h.

Referenced by AfterConvergence(), AssJac(), AssRes(), dGetPrivData(), GetConnectedNodes(), InitialAssJac(), InitialAssRes(), Output(), Restart(), and SetValue().

Mat3x3 PlaneRotationJoint::R1h
private

Definition at line 218 of file planej.h.

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

Mat3x3 PlaneRotationJoint::R2h
private

Definition at line 219 of file planej.h.

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

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