#include <rodbezj.h>

Inheritance diagram for RodBezier:

Collaboration diagram for RodBezier:

Public Member Functions
	RodBezier (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructNode pN1, const StructNode pN2, const Vec3 &fOTmp, const Vec3 &fATmp, const Vec3 &fBTmp, const Vec3 &fITmp, doublereal dLength, bool bFromNodes, const unsigned int iIntOrder, const unsigned int iIntSegments, flag fOut)

virtual	~RodBezier (void)

virtual Joint::Type	GetJointType (void) const

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

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

virtual unsigned int	iGetNumDof (void) const

virtual 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)

void	AssVec (SubVectorHandler &WorkVec)

void	Output (OutputHandler &OH) const

virtual unsigned int	iGetInitialNumDof (void) 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)

virtual bool	bInverseDynamics (void) const

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

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

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

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

doublereal	dGetPrivData (unsigned int i) 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 DofOrder::Order	GetDofType (unsigned int) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

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

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

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

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)

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (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 i) const

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

Protected Attributes
const StructNode *	pNode1

const StructNode *	pNode2

const Vec3	fO

const Vec3	fA

const Vec3	fB

const Vec3	fI

doublereal	dL0

Vec3	l1

Vec3	l2

doublereal	dElle

doublereal	dEpsilon

doublereal	dEpsilonPrime

unsigned int	iIntOrd

unsigned int	iIntSeg

GaussDataIterator *	gdi

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

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

Private Member Functions
doublereal	Ap1 (doublereal u)

doublereal	Ap2 (doublereal u)

doublereal	Ap3 (doublereal u)

doublereal	Ap4 (doublereal u)

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 48 of file rodbezj.h.

Constructor & Destructor Documentation

RodBezier::RodBezier	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw1D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Vec3 &	fOTmp,
		const Vec3 &	fATmp,
		const Vec3 &	fBTmp,
		const Vec3 &	fITmp,
		doublereal	dLength,
		bool	bFromNodes,
		const unsigned int	iIntOrder,
		const unsigned int	iIntSegments,
		flag	fOut
	)

Definition at line 52 of file rodbezj.cc.

References Ap1(), Ap2(), Ap3(), Ap4(), ASSERT, PntWght::dGetPnt(), dL0, fA, fB, fI, fO, gdi, StructDispNode::GetNodeType(), StructNode::GetRRef(), StructDispNode::GetXCurr(), l1, l2, Vec3::Norm(), and Node::STRUCTURAL.

 : Elem(uL, fOut),
 Joint(uL, pDO, fOut),
 ConstitutiveLaw1DOwner(pCL),
 pNode1(pN1),
 pNode2(pN2),
 fO(fOTmp),
 fA(fATmp),
 fB(fBTmp),
 fI(fITmp),
 dL0(dLength),
 l1(Zero3),
 l2(Zero3),
 dElle(0.),
 dEpsilon(0.),
 dEpsilonPrime(0.),
 iIntOrd(iIntOrder),
 iIntSeg(iIntSegments)
 {
         /* Check initial data coherence */
         ASSERT(pN1 != NULL);
         ASSERT(pN1->GetNodeType() == Node::STRUCTURAL);
         ASSERT(pN2 != NULL);
         ASSERT(pN2->GetNodeType() == Node::STRUCTURAL);
 
         /* Integration sites and weights (for curve length) 
          * Gauss-Legendre quadrature used. */
 
         gdi = new GaussDataIterator(iIntOrder);
         
         const Mat3x3& R1(pN1->GetRRef());
         const Mat3x3& R2(pN2->GetRRef());
         
         l1 = R1*(fATmp - fOTmp);
         l2 = R2*(fBTmp - fITmp);
 
         l1 = l1/l1.Norm();
         l2 = l2/l2.Norm();
 
         if (bFromNodes) {
                 
                 const Vec3 b1 = pN1->GetXCurr() + R1*fO; 
                 const Vec3 b2 = pN1->GetXCurr() + R1*fA; 
                 const Vec3 b3 = pN2->GetXCurr() + R2*fB; 
                 const Vec3 b4 = pN2->GetXCurr() + R2*fI; 
         
                 Vec3 p;
                 doublereal q, up;
                 doublereal s = 1.0/(2.0*iIntSegments);
 
                 for (unsigned int jj = 0; jj < iIntSegments; jj++) {
                         q = s*(2*jj + 1);
 
                         PntWght gp = gdi->GetFirst();
                         do {
                                 up = s*gp.dGetPnt() + q;
                                 p = b1*Ap1(up) + b2*Ap2(up) + b3*Ap3(up) + b4*Ap4(up);
                                 dLength = dLength + s*gp.dGetWght()*p.Norm();
 
                         } while (gdi->fGetNext(gp)); 
                 }
 
                 dL0 = dLength;
 
         }
 
         ASSERT(dLength > std::numeric_limits<doublereal>::epsilon());
 
 }

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RodBezier::~RodBezier ( void )

virtual

Definition at line 130 of file rodbezj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 155 of file rodbezj.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), dEpsilon, and dEpsilonPrime.

Referenced by AfterConvergence().

 {
         ConstitutiveLaw1DOwner::AfterConvergence(dEpsilon, dEpsilonPrime);
 }

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void RodBezier::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP,
		const VectorHandler &	XPP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 839 of file rodbezj.cc.

References AfterConvergence().

 {
         AfterConvergence(X, XP);
 }

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doublereal RodBezier::Ap1 ( doublereal u )

inlineprivate

Definition at line 181 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

181 { return (-3*u*u + 6*u -3); };

doublereal RodBezier::Ap2 ( doublereal u )

inlineprivate

Definition at line 182 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

182 { return (9*u*u - 12*u + 3); };

doublereal RodBezier::Ap3 ( doublereal u )

inlineprivate

Definition at line 183 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

183 { return (-9*u*u + 6*u); };

doublereal RodBezier::Ap4 ( doublereal u )

inlineprivate

Definition at line 184 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

184 { return (3*u*u); };

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

virtual

Implements Elem.

Definition at line 163 of file rodbezj.cc.

References FullSubMatrixHandler::Add(), Ap1(), Ap2(), Ap3(), Ap4(), Vec3::Cross(), DEBUGCOUT, PntWght::dGetPnt(), dL0, fA, fB, GaussDataIterator::fGetNext(), fI, fO, gdi, ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), GaussDataIterator::GetFirst(), StructNode::GetRRef(), StructNode::GetWRef(), StructDispNode::GetXCurr(), StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), iIntSeg, l1, l2, MatCross, MatCrossCross, Vec3::Norm(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Vec3::Tens(), WorkSpaceDim(), and Zero3.

Referenced by AssJac().

 {
         DEBUGCOUT("Entering RodBezier::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Resizes and resets the work matrix */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Gets the nodes indexes */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Sets the matrix indexes */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         const Mat3x3& R1(pNode1->GetRRef());
         const Mat3x3& R2(pNode2->GetRRef());
         const Vec3 fOTmp(R1*fO);
         const Vec3 fATmp(R1*fA);
         const Vec3 fBTmp(R2*fB);
         const Vec3 fITmp(R2*fI);
         
         const Vec3& Omega1(pNode1->GetWRef());
         const Vec3& Omega2(pNode2->GetWRef());
 
         /* Force and slopes */
         doublereal dF = GetF();
         doublereal dFDE = GetFDE();
         doublereal dFDEPrime = GetFDEPrime();
 
         const Vec3 b1 = pNode1->GetXCurr() + R1*fO; 
         const Vec3 b2 = pNode1->GetXCurr() + R1*fA; 
         const Vec3 b3 = pNode2->GetXCurr() + R2*fB; 
         const Vec3 b4 = pNode2->GetXCurr() + R2*fI; 
         
         Vec3 p;
         doublereal q, up, pNorm, dKC, dAp1, dAp2, dAp3, dAp4;
         doublereal s = 1.0/(2.0*iIntSeg);
 
         Vec3 kcx1(Zero3);
         Vec3 kcg1(Zero3);
         Vec3 kcx2(Zero3);
         Vec3 kcg2(Zero3);
 
         Vec3 TmpV;
         
         for (unsigned int jj = 0; jj < iIntSeg; jj++) {
                 q = s*(2*jj + 1);
                 
                 PntWght gp = gdi->GetFirst();
                 do { 
                         up = s*gp.dGetPnt() + q;
                         
                         dAp1 = Ap1(up);
                         dAp2 = Ap2(up);
                         dAp3 = Ap3(up);
                         dAp4 = Ap4(up);
 
                         p = b1*dAp1 + b2*dAp2 + b3*dAp3 + b4*dAp4;
                         pNorm = p.Norm();
                         dKC = (s*gp.dGetWght())/(2*dL0*pNorm);
                         
                         kcx1 = kcx1 + p*(dFDE*dKC*dCoef*(dAp1 + dAp2));
                         
                         kcg1 = kcg1 + p.Cross(fOTmp*dAp1 + fATmp*dAp2)*dFDE*dKC*dCoef;
                         
                         kcx2 = kcx2 + p*dFDE*dKC*dCoef*(dAp3 + dAp4);
                         
                         kcg2 = kcg2 + p.Cross(fBTmp*dAp3 +fITmp*dAp4)*dFDE*dKC*dCoef;
 
                         if (dFDEPrime != 0.) {
                                 kcx1 = kcx1 + p*dFDEPrime*dKC*(dAp1 + dAp2);
                                 
                                 TmpV = p*2. - p.Cross(fOTmp*dAp1 + fATmp*dAp2);
                                 kcg1 = kcg1 - Omega1.Cross(TmpV)*dFDEPrime*dKC*dCoef;
                                 
                                 kcx2 = kcx2 + p*dFDEPrime*dKC*(dAp3 + dAp4);
 
                                 TmpV = p*2. - p.Cross(fBTmp*dAp3 + fITmp*dAp4);
                                 kcg2 = kcg2 + Omega2.Cross(TmpV)*dFDEPrime*dKC*dCoef;
                         }
 
                 } while (gdi->fGetNext(gp));
         }
 
         
         /* Forces on node 1 from dx1 */
         Mat3x3 F1x1 = l1.Tens(kcx1);
         WM.Add(1, 1, F1x1);
 
         /* Moments on node 1 from dx1 */
         Mat3x3 M1x1 = Mat3x3(MatCross, fOTmp)*F1x1;
         WM.Sub(3 + 1, 1, M1x1);
 
         /* Forces on node 2 from dx1 */ 
         Mat3x3 F2x1 = l2.Tens(kcx1);
         WM.Add(6 + 1, 1, F2x1);
 
         /* Moments on node 2 from dx1 */
         Mat3x3 M2x1 = Mat3x3(MatCross, fITmp)*F2x1;
         WM.Sub(9 + 1, 1, M2x1);
 
         /* Forces on node 1 from dg1 */
         Mat3x3 F1g1 = l1.Tens(kcg1) - (Mat3x3(MatCross, l1) - Mat3x3(MatCross, l1)*l1.Tens())*dCoef*dF;
         WM.Add(1, 3 + 1, F1g1);
 
         /* Moments on node 1 from dg1 */
         Mat3x3 M1g1 = Mat3x3(MatCross, fOTmp)*F1g1 - Mat3x3(MatCrossCross, l1, fOTmp)*dCoef*dF;
         WM.Sub(3 + 1, 3 + 1, M1g1);
 
         /* Forces on node 2 from dg1 */
         Mat3x3 F2g1 = l2.Tens(kcg1);
         WM.Add(6 + 1, 3 + 1, F2g1);
 
         /* Moments on node 2 from dg1 */
         Mat3x3 M2g1 = Mat3x3(MatCross, fITmp)*F2g1;
         WM.Sub(9 + 1, 3 + 1, M2g1);
 
         /* Forces on node 1 from dx2 */
         Mat3x3 F1x2 = l1.Tens(kcx2);
         WM.Add(1, 6 + 1, F1x2);
 
         /* Moments on node 1 from dx2 */
         Mat3x3 M1x2 = Mat3x3(MatCross, fOTmp)*F1x2;
         WM.Sub(3 + 1, 6 + 1, M1x2);
 
         /* Forces on node 2 from dx2 */
         Mat3x3 F2x2 = l2.Tens(kcx2);
         WM.Add(6 + 1, 6 + 1, F2x2);
 
         /* Moments on node 2 from dx2 */
         Mat3x3 M2x2 = Mat3x3(MatCross, fITmp)*F2x2;
         WM.Sub(9 + 1, 6 + 1, M2x2);
 
         /* Forces on node 1 from dg2 */
         Mat3x3 F1g2 = l1.Tens(kcg2);
         WM.Add(1, 9 + 1, F1g2);
 
         /* Moments on node 1 from dg2 */
         Mat3x3 M1g2 = Mat3x3(MatCross, fOTmp)*F1g2;
         WM.Sub(3 + 1, 9 + 1, M1g2);
 
         /* Forces on node 2 from dg2 */
         Mat3x3 F2g2 = l2.Tens(kcg2) - (Mat3x3(MatCross, l2) - Mat3x3(MatCross, l2)*l2.Tens())*dF*dCoef;
         WM.Add(6 + 1, 9 + 1, F2g2);
 
         /* Moments on node 2 from dg2 */
         Mat3x3 M2g2 = Mat3x3(MatCross, fITmp)*F2g2 - Mat3x3(MatCrossCross, l2, fITmp)*dCoef*dF;
         WM.Sub(9 + 1, 9 + 1, M2g2);
 
         return WorkMat;
 }

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VariableSubMatrixHandler & RodBezier::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Elem.

Definition at line 807 of file rodbezj.cc.

References ASSERT, AssJac(), and Elem::bIsErgonomy().

 {
         ASSERT(bIsErgonomy());
         return AssJac(WorkMat, 1., XCurr, XCurr);
 }

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

virtual

Implements Elem.

Definition at line 332 of file rodbezj.cc.

References AssVec(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and WorkSpaceDim().

Referenced by AssRes().

 {
         DEBUGCOUT("RodBezier::AssRes()" << std::endl);
 
         /* Resizes and resets the work matrix */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Gets the nodes indexes */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex();
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex();
 
         /* Sets the indexes */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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SubVectorHandler & RodBezier::AssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr,
		const VectorHandler &	XPrimePrimeCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Elem.

Definition at line 816 of file rodbezj.cc.

References ASSERT, AssRes(), Elem::bIsErgonomy(), DEBUGCOUT, InverseDynamics::INVERSE_DYNAMICS, and InverseDynamics::POSITION.

 {
         DEBUGCOUT("Entering RodBezier::AssRes()" << std::endl);
 
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS
                 || (iOrder == InverseDynamics::POSITION && bIsErgonomy()));
         
         return AssRes(WorkVec, 1., XCurr, XPrimeCurr);
 }

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void RodBezier::AssVec ( SubVectorHandler & WorkVec )

Definition at line 361 of file rodbezj.cc.

References VectorHandler::Add(), Ap1(), Ap2(), Ap3(), Ap4(), Vec3::Cross(), DEBUGCOUT, dElle, dEpsilon, dEpsilonPrime, PntWght::dGetPnt(), dL0, Vec3::Dot(), fA, fB, GaussDataIterator::fGetNext(), fI, fO, gdi, ConstitutiveLawOwner< T, Tder >::GetF(), GaussDataIterator::GetFirst(), WithLabel::GetLabel(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), iIntSeg, l1, l2, MBDYN_EXCEPT_ARGS, Vec3::Norm(), pNode1, pNode2, and ConstitutiveLawOwner< T, Tder >::Update().

Referenced by AssRes(), and InitialAssRes().

 {
         DEBUGCOUT("RodBezier::AssVec()" << std::endl);
 
         /* Data */
         const Mat3x3& R1(pNode1->GetRCurr());
         const Mat3x3& R2(pNode2->GetRCurr());
         Vec3 fOTmp(R1*fO);
         Vec3 fATmp(R1*fA);
         Vec3 fBTmp(R2*fB);
         Vec3 fITmp(R2*fI);
 
         const Vec3& x1(pNode1->GetXCurr());
         const Vec3& x2(pNode2->GetXCurr());
 
         const Vec3& v1(pNode1->GetVCurr());
         const Vec3& v2(pNode2->GetVCurr());
         const Vec3& Omega1(pNode1->GetWCurr());
         const Vec3& Omega2(pNode2->GetWCurr());
 
         dElle = 0.;
         doublereal dEllePrime = 0.;
         Vec3 p, pprime;
         doublereal q, up, dAp1, dAp2, dAp3, dAp4;
         doublereal s = 1.0/(2.0*iIntSeg);
 
         for (unsigned int jj = 0; jj < iIntSeg; jj++) {
                 q = s*(2*jj + 1); 
                 
                 PntWght gp = gdi->GetFirst();
                 do {
                         up = s*gp.dGetPnt() + q;
 
                         dAp1 = Ap1(up);
                         dAp2 = Ap2(up);
                         dAp3 = Ap3(up);
                         dAp4 = Ap4(up);
 
                         p = (x1 + fOTmp)*dAp1 + 
                             (x1 + fATmp)*dAp2 + 
                             (x2 + fBTmp)*dAp3 + 
                             (x2 + fITmp)*dAp4;
 
                         dElle = dElle + s*gp.dGetWght()*p.Norm();
                         pprime = (v1 + Omega1.Cross(fOTmp))*dAp1 + 
                                  (v1 + Omega1.Cross(fATmp))*dAp2 +
                                  (v2 + Omega2.Cross(fBTmp))*dAp3 + 
                                  (v2 + Omega2.Cross(fITmp))*dAp4;
                         dEllePrime = dEllePrime + .5*s*gp.dGetWght()/p.Norm()*p.Dot(pprime);
                 } while (gdi->fGetNext(gp));
         }
 
         /* Check that the distance is not null */
         if (dElle <= std::numeric_limits<doublereal>::epsilon()) {
                 silent_cerr("RodBezier(" << GetLabel() << "): "
                         "null length of element." << std::endl);
                 throw ErrNullNorm(MBDYN_EXCEPT_ARGS);
         }
 
         /* Strain */
         dEpsilon = dElle/dL0 - 1.;
 
         /* Strain velocity */
         dEpsilonPrime  = dEllePrime/dL0;
 
         /* Amplitude of force from CL */
         bool ChangeJac(false);
         try {
                 ConstitutiveLaw1DOwner::Update(dEpsilon, dEpsilonPrime);
 
         } catch (Elem::ChangedEquationStructure) {
                 ChangeJac = true;
         }
 
         doublereal dF = GetF();
 
         /* Force vectors */
         Vec3 F1(l1*dF);
         Vec3 F2(l2*dF);
 
         WorkVec.Add(1, F1);
         WorkVec.Add(3 + 1, fOTmp.Cross(F1));
         WorkVec.Add(6 + 1, F2);
         WorkVec.Add(9 + 1, fITmp.Cross(F2));
 
         if (ChangeJac) {
                 throw Elem::ChangedEquationStructure(MBDYN_EXCEPT_ARGS);
         }
 }

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bool RodBezier::bInverseDynamics ( void ) const

virtual

Reimplemented from Elem.

Definition at line 800 of file rodbezj.cc.

 {
         return true;
 }

doublereal RodBezier::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 878 of file rodbezj.cc.

References ASSERT, dElle, dEpsilonPrime, ConstitutiveLawOwner< T, Tder >::dGetPrivData(), dL0, ConstitutiveLawOwner< T, Tder >::GetF(), and ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

 {
         ASSERT(i > 0);
 
         switch (i) {
         case 1:
                 return GetF();
 
         case 2:
                 return dElle;
 
         case 3:
                 return dL0*dEpsilonPrime;
         }
 
         i -= 3;
         ASSERT(i <= ConstitutiveLaw1DOwner::iGetNumPrivData());
 
         return ConstitutiveLaw1DOwner::dGetPrivData(i);
 }

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

inlinevirtual

Reimplemented from Elem.

Definition at line 169 of file rodbezj.h.

References pNode1, and pNode2.

                                                                          {
                 connectedNodes.resize(2);
                 connectedNodes[0] = pNode1;
                 connectedNodes[1] = pNode2;
         };

virtual Joint::Type RodBezier::GetJointType ( void ) const

inlinevirtual

Implements Joint.

Definition at line 85 of file rodbezj.h.

References Joint::RODBEZIER.

                                                    {
                 return Joint::RODBEZIER;
         };

virtual unsigned int RodBezier::iGetInitialNumDof ( void ) const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 121 of file rodbezj.h.

                                                            {
                 return 0;
         }

virtual unsigned int RodBezier::iGetNumDof ( void ) const

inlinevirtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 95 of file rodbezj.h.

                                                     { 
                 return 0;
         };

unsigned int RodBezier::iGetNumPrivData ( void ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 846 of file rodbezj.cc.

References ConstitutiveLawOwner< T, Tder >::iGetNumPrivData().

 {
         return 3 + ConstitutiveLaw1DOwner::iGetNumPrivData();
 }

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unsigned int RodBezier::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from ConstitutiveLawOwner< T, Tder >.

Definition at line 852 of file rodbezj.cc.

References ASSERT, ConstitutiveLawOwner< T, Tder >::iGetPrivDataIdx(), and STRLENOF.

 {
         ASSERT(s != NULL);
 
         if (strcmp(s, "F") == 0) {
                 return 1;
         }
 
         if (strcmp(s, "L") == 0) {
                 return 2;
         }
 
         if (strcmp(s, "LPrime") == 0) {
                 return 3;
         }
 
         size_t l = STRLENOF("constitutiveLaw.");
         if (strncmp(s, "constitutiveLaw.", l) == 0) {
                 return 3 + ConstitutiveLaw1DOwner::iGetPrivDataIdx(&s[l]);
         }
 
         /* error; handle later */
         return 0;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 470 of file rodbezj.cc.

References FullSubMatrixHandler::Add(), Ap1(), Ap2(), Ap3(), Ap4(), Vec3::Cross(), DEBUGCOUT, PntWght::dGetPnt(), dL0, fA, fB, GaussDataIterator::fGetNext(), fI, fO, gdi, ConstitutiveLawOwner< T, Tder >::GetF(), ConstitutiveLawOwner< T, Tder >::GetFDE(), ConstitutiveLawOwner< T, Tder >::GetFDEPrime(), GaussDataIterator::GetFirst(), StructNode::GetRRef(), StructNode::GetWRef(), StructDispNode::GetXCurr(), StructDispNode::iGetFirstPositionIndex(), iIntSeg, InitialWorkSpaceDim(), l1, l2, MatCross, MatCrossCross, Vec3::Norm(), pNode1, pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), FullSubMatrixHandler::Sub(), Vec3::Tens(), and Zero3.

 {
         DEBUGCOUT("Entering RodBezier::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode1FirstVelIndex = iNode1FirstPosIndex + 6;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
         integer iNode2FirstVelIndex = iNode2FirstPosIndex + 6;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(6 + iCnt, iNode1FirstVelIndex + iCnt);
 
                 WM.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(12 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(18 + iCnt, iNode2FirstVelIndex + iCnt);
         }
 
         const Mat3x3& R1(pNode1->GetRRef());
         const Mat3x3& R2(pNode2->GetRRef());
         const Vec3 fOTmp(R1*fO);
         const Vec3 fATmp(R1*fA);
         const Vec3 fBTmp(R2*fB);
         const Vec3 fITmp(R2*fI);
 
         const Vec3& x1(pNode1->GetXCurr());
         const Vec3& x2(pNode2->GetXCurr());
 
         //const Vec3& v1(pNode1->GetVCurr());
         //const Vec3& v2(pNode2->GetVCurr());
         const Vec3& Omega1(pNode1->GetWRef());
         const Vec3& Omega2(pNode2->GetWRef());
 
         /* Forza e slopes */
         doublereal dF = GetF();
         doublereal dFDE = GetFDE();
         doublereal dFDEPrime = GetFDEPrime();
         
         const Vec3 b1 = x1 + R1*fO; 
         const Vec3 b2 = x1 + R1*fA; 
         const Vec3 b3 = x2 + R2*fB; 
         const Vec3 b4 = x2 + R2*fI; 
 
         Vec3 p;
         doublereal q, up, pNorm, dKC, dAp1, dAp2, dAp3, dAp4;
         doublereal s = 1.0/(2.0*iIntSeg);
 
         Vec3 kx1(Zero3);
         Vec3 kg1(Zero3);
         Vec3 kx2(Zero3);
         Vec3 kg2(Zero3);
 
         Vec3 cg1(Zero3);
         Vec3 cxp1(Zero3);
         Vec3 com1(Zero3);
         Vec3 cg2(Zero3);
         Vec3 cxp2(Zero3);
         Vec3 com2(Zero3);
 
         Vec3 TmpV;
 
         for (unsigned int jj = 0; jj < iIntSeg; jj++) {
                 q = s*(2*jj + 1);
 
                 PntWght gp = gdi->GetFirst();
                 do {
                         up = s*gp.dGetPnt() + q;
                         
                         dAp1 = Ap1(up);
                         dAp2 = Ap2(up);
                         dAp3 = Ap3(up);
                         dAp4 = Ap4(up);
 
                         p = b1*dAp1 + b2*dAp2 + b3*dAp3 + b4*dAp4;
                         pNorm = p.Norm();
                         dKC = (s*gp.dGetWght())/(2*dL0*pNorm);
                         
                         kx1 = kx1 + p*dFDE*dKC*(dAp1 + dAp2);
                         
                         TmpV = fOTmp*dAp1 + fATmp*dAp2;
                         kg1 = kg1 - TmpV.Cross(p)*dFDE*dKC;
                         
                         kx2 = kx2 + p*dFDE*dKC*(dAp3 + dAp4);
                         
                         TmpV = fBTmp*dAp3 + fITmp*dAp4;
                         kg2 = kg2 - TmpV.Cross(p)*dFDE*dKC;
 
                         if (dFDEPrime != 0.) {
                                 TmpV = Omega1.Cross(p);
                                 cg1 = cg1 - TmpV.Cross(fATmp*dAp2 - fOTmp*dAp1)*dFDEPrime*dKC;
                                 
                                 cxp1 = cxp1 + p*dFDEPrime*dKC*(dAp1 + dAp2);
 
                                 com1 = com1 - p.Cross(fATmp*dAp2 - fOTmp*dAp1)*dFDEPrime*dKC;
 
                                 TmpV = Omega2.Cross(p);
                                 cg2 = cg2 + TmpV.Cross(fITmp*dAp4 - fBTmp*dAp3)*dFDEPrime*dKC;
                                 
                                 cxp2 = cxp2 + p*dFDEPrime*dKC*(dAp3 + dAp4);
 
                                 com2 = com2 - p.Cross(fITmp*dAp4 - fBTmp*dAp3)*dFDEPrime*dKC;
 
                         }
 
                 } while (gdi->fGetNext(gp));
         }
 
         /* Force on node 1 from dx1 */
         Mat3x3 F1x1 = l1.Tens(kx1);
         WM.Add(1, 1, F1x1);
 
         /* Force on node 1 from dg1 */
         Vec3 Tmp1 = kg1;
         if (dFDEPrime != 0.) {
                 Tmp1 += cg1;
         }
         Mat3x3 F1g1 = l1.Tens(Tmp1) - (Mat3x3(MatCross, l1) - Mat3x3(MatCross, l1)*l1.Tens())*dF;
         WM.Add(1, 3 + 1, F1g1);
 
         /* Force on node 1 from dxp1 */
         Mat3x3 F1xp1;
         if (dFDEPrime != 0.) {
                 F1xp1 = l1.Tens(cxp1);
                 WM.Add(1, 6 + 1, F1xp1);
         }
 
         /* Force on node 1 from dom1 */
         Mat3x3 F1om1;
         if (dFDEPrime != 0.) {
                 F1om1 = l1.Tens(com1);
                 WM.Add(1, 9 + 1, F1om1);
         }
 
         /* Force on node 1 from dx2 */
         Mat3x3 F1x2 = l1.Tens(kx2);
         WM.Add(1, 12 + 1, F1x2);
 
         /* Force on node 1 from dg2 */
         Vec3 Tmp2 = kg2;
         if (dFDEPrime != 0.) {
                 Tmp2 += cg2;
         }
         Mat3x3 F1g2 = l1.Tens(Tmp2);
         WM.Add(1, 15 + 1, F1g2);
 
         /* Force on node 1 from dxp2 */
         Mat3x3 F1xp2;
         if (dFDEPrime != 0.) {
                 F1xp2 = l1.Tens(cxp2);
                 WM.Add(1, 18 + 1, F1xp2);
         }
 
         /* Force on node 1 from dom2 */
         Mat3x3 F1om2;
         if (dFDEPrime != 0.) {
                 F1om2 = l1.Tens(com2);
                 WM.Add(1, 21 + 1, F1om2);
         }
 
         /* Moment on node 1 from dx1 */
         Mat3x3 M1x1 = Mat3x3(MatCross, fOTmp)*F1x1;
         WM.Sub(3 + 1, 1, M1x1);
 
         /* Moment on node 1 from dg1 */
         Mat3x3 M1g1 = Mat3x3(MatCross, fOTmp)*F1g1 + Mat3x3(MatCrossCross, l1, fOTmp);
         WM.Sub(3 + 1, 3 + 1, M1g1);
 
         /* Moment on node 1 from dxp1 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M1xp1 = Mat3x3(MatCross, fOTmp)*F1xp1;
                 WM.Sub(3 + 1, 6 + 1, M1xp1);
         }
 
         /* Moment on node 1 from dom1 */
         if (dFDEPrime != 0.) {  
                 Mat3x3 M1om1 = Mat3x3(MatCross, fOTmp)*F1om1;
                 WM.Sub(3 + 1, 9 + 1, M1om1);
         }
 
         /* Moment on node 1 from dx2 */
         Mat3x3 M1x2 = Mat3x3(MatCross, fOTmp)*F1x2;
         WM.Sub(3 + 1, 12 + 1, M1x2);
 
         /* Moment on node 1 from dg2 */
         Mat3x3 M1g2 = Mat3x3(MatCross, fOTmp)*F1g2;
         WM.Sub(3 + 1, 15 + 1, M1g2);
 
         /* Moment on node 1 from dxp2 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M1xp2 = Mat3x3(MatCross, fOTmp)*F1xp2;
                 WM.Sub(3 + 1, 18 + 1, M1xp2);
         }
 
         /* Moment on node 1 from dom2 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M1om2 = Mat3x3(MatCross, fOTmp)*F1om2;
                 WM.Sub(3 + 1, 21 + 1, M1om2);
         }
 
         /* Force on node 2 from dx1 */
         Mat3x3 F2x1 = l2.Tens(kx1);
         WM.Add(6 + 1, 1, F1x1);
 
         /* Force on node 2 from dg1 */
         Tmp1 = kg1;
         Mat3x3 F2g1 = l2.Tens(Tmp1);
         WM.Add(6 + 1, 3 + 1, F2g1);
 
         /* Force on node 2 from dxp1 */
         Mat3x3 F2xp1;
         if (dFDEPrime != 0.) {
                 F2xp1 = l2.Tens(cxp1);
                 WM.Add(6 + 1, 6 + 1, F2xp1);
         }
 
         /* Force on node 2 from dom1 */
         Mat3x3 F2om1;
         if (dFDEPrime != 0.) {
                 F2om1 = l2.Tens(com1);
                 WM.Add(6 + 1, 9 + 1, F2om1);
         }
 
         /* Force on node 2 from dx2 */
         Mat3x3 F2x2 = l2.Tens(kx2);
         WM.Add(6 + 1, 12 + 1, F2x2);
 
         /* Force on node 2 from dg2 */
 
         Mat3x3 F2g2 = l2.Tens(Tmp2) - (Mat3x3(MatCross, l2) - Mat3x3(MatCross, l2)*l2.Tens())*dF;
         WM.Add(6 + 1, 15 + 1, F2g2);
 
         /* Force on node 2 from dxp2 */
         Mat3x3 F2xp2;
         if (dFDEPrime != 0.) {
                 F2xp2 = l2.Tens(cxp2);
                 WM.Add(6 + 1, 18 + 1, F2xp2);
         }
 
         /* Force on node 2 from dom2 */
         Mat3x3 F2om2;
         if (dFDEPrime != 0.) {
                 F2om2 = l2.Tens(com2);
                 WM.Add(6 + 1, 21 + 1, F2om2);
         }
 
         /* Moment on node 2 from dx2 */
         Mat3x3 M2x1 = Mat3x3(MatCross, fITmp)*F2x1;
         WM.Sub(9 + 1, 1, M2x1);
 
         /* Moment on node 2 from dg1 */
         Mat3x3 M2g1 = Mat3x3(MatCross, fITmp)*F2g1;
         WM.Sub(9 + 1, 3 + 1, M1g1);
 
         /* Moment on node 2 from dxp1 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M2xp1 = Mat3x3(MatCross, fITmp)*F2xp1;
                 WM.Sub(9 + 1, 6 + 1, M2xp1);
         }
 
         /* Moment on node 2 from dom1 */
         if (dFDEPrime != 0.) {  
                 Mat3x3 M2om1 = Mat3x3(MatCross, fITmp)*F2om1;
                 WM.Sub(9 + 1, 9 + 1, M2om1);
         }
 
         /* Moment on node 2 from dx2 */
         Mat3x3 M2x2 = Mat3x3(MatCross, fITmp)*F2x2;
         WM.Sub(9 + 1, 12 + 1, M2x2);
 
         /* Moment on node 2 from dg2 */
         Mat3x3 M2g2 = Mat3x3(MatCross, fITmp)*F2g2 + Mat3x3(MatCrossCross, l2, fITmp);
         WM.Sub(9 + 1, 15 + 1, M2g2);
 
         /* Moment on node 2 from dxp2 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M2xp2 = Mat3x3(MatCross, fITmp)*F2xp2;
                 WM.Sub(9 + 1, 18 + 1, M2xp2);
         }
 
         /* Moment on node 2 from dom2 */
         if (dFDEPrime != 0.) {
                 Mat3x3 M2om2 = Mat3x3(MatCross, fITmp)*F2om2;
                 WM.Sub(9 + 1, 21 + 1, M2om2);
         }
 
         return WorkMat;
 }

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 772 of file rodbezj.cc.

References AssVec(), DEBUGCOUT, StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), pNode1, pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         DEBUGCOUT("RodBezier::InitialAssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex();
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex();
 
         /* Setta gli indici */
         for (int iCnt = 1; iCnt <= 6; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(6 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 126 of file rodbezj.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                                           {
                 *piNumRows = 12;
                 *piNumCols = 24; 
         };

void RodBezier::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 452 of file rodbezj.cc.

References ASSERT, ToBeOutput::bToBeOutput(), dElle, dEpsilonPrime, dL0, ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), OutputHandler::Joints(), l1, l2, Joint::Output(), ConstitutiveLawOwner< T, Tder >::OutputAppend(), and Zero3.

 {
         if (bToBeOutput()) {
                 ASSERT(dElle > std::numeric_limits<doublereal>::epsilon());
                 doublereal dF = GetF();
 
                 std::ostream& out = OH.Joints();
 
                 Joint::Output(out, "RodBezier", GetLabel(),
                         Vec3(dF, 0., 0.), Zero3, l1*dF, Zero3)
                         << " " << l2*dF << " " << dElle << " " << l1 << " " 
                         << " " << l2 << " " << " " << dEpsilonPrime*dL0,
                         ConstitutiveLaw1DOwner::OutputAppend(out) << std::endl;
         }
 }

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

virtual

Implements Elem.

Definition at line 137 of file rodbezj.cc.

References dL0, fA, fO, WithLabel::GetLabel(), iIntOrd, iIntSeg, ConstitutiveLawOwner< T, Tder >::pGetConstLaw(), pNode1, pNode2, Joint::Restart(), and Vec3::Write().

 {
         Joint::Restart(out); 
         out << ", rod bezier, "
                 << pNode1->GetLabel() << ", "
                 << "position, reference, node, "; 
                 fO.Write(out, ", ") << ", "
                 << "position, reference, node, "; fA.Write(out, ", ") << "," << std::endl
                 << pNode2->GetLabel() << ", "
                 << "position, reference, node, "; fO.Write(out, ", ") << ", "
                 << "position, reference, node, "; fA.Write(out, ", ") << "," << std::endl
                 << dL0 << "," << std::endl
                 << "integration order, " << iIntOrd << ", "
                 << "integration segments, " << iIntSeg << ", ";
         return pGetConstLaw()->Restart(out) << ';' << std::endl;
 }

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void RodBezier::Update	(	const VectorHandler &	XCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Joint.

Definition at line 832 of file rodbezj.cc.

References NO_OP.

 {
         NO_OP;
 }

virtual void RodBezier::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements Elem.

Definition at line 100 of file rodbezj.h.

Referenced by AssJac(), and AssRes().

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

Member Data Documentation

doublereal RodBezier::dElle

protected

Definition at line 61 of file rodbezj.h.

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

doublereal RodBezier::dEpsilon

protected

Definition at line 62 of file rodbezj.h.

Referenced by AfterConvergence(), and AssVec().

doublereal RodBezier::dEpsilonPrime

protected

Definition at line 63 of file rodbezj.h.

Referenced by AfterConvergence(), AssVec(), dGetPrivData(), and Output().

doublereal RodBezier::dL0

protected

Definition at line 57 of file rodbezj.h.

Referenced by AssJac(), AssVec(), dGetPrivData(), InitialAssJac(), Output(), Restart(), and RodBezier().

const Vec3 RodBezier::fA

protected

Definition at line 54 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), Restart(), and RodBezier().

const Vec3 RodBezier::fB

protected

Definition at line 55 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

const Vec3 RodBezier::fI

protected

Definition at line 56 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

const Vec3 RodBezier::fO

protected

Definition at line 53 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), Restart(), and RodBezier().

GaussDataIterator* RodBezier::gdi

protected

Definition at line 68 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and RodBezier().

unsigned int RodBezier::iIntOrd

protected

Definition at line 65 of file rodbezj.h.

Referenced by Restart().

unsigned int RodBezier::iIntSeg

protected

Definition at line 66 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), and Restart().

Vec3 RodBezier::l1

protected

Definition at line 59 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), Output(), and RodBezier().

Vec3 RodBezier::l2

protected

Definition at line 60 of file rodbezj.h.

Referenced by AssJac(), AssVec(), InitialAssJac(), Output(), and RodBezier().

const StructNode* RodBezier::pNode1

protected

Definition at line 51 of file rodbezj.h.

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

const StructNode* RodBezier::pNode2

protected

Definition at line 52 of file rodbezj.h.

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

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

Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation