doc/CFloatingCollar_8h_source.html

#ifndef C_FLOATING_COLLAR_H

#define C_FLOATING_COLLAR_H

#include <SimObject.h>

#include <CEnvironment.h>

#include "sfh/constants.h"

#include <sfh/text.h>

#include <stdio.h>

#include <math.h>

#include <iostream>

#include <vector>


#include <cmath>

#include <complex>

#include <Eigen/Dense>


#include <environment/DeepSeaGravityWaves.h>


#include "CContact.h"


using namespace std;

using std::vector;


namespace Netcage {


class CFloatingCollar : public SimObject

{

public:

    CFloatingCollar(const string& simObjectName, ISimObjectCreator* const creator);

    virtual void FinalSetup(const double T, const double* const X, ISimObjectCreator* const pCreator);

    virtual ~CFloatingCollar();


    void OdeFcn(const double T , const double* const X, double* const XDot, const bool IsMajorTimeStep);


#ifdef FH_VISUALIZATION

    void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);


    void RenderUpdate(const double T, const double* const X);

#endif

    const virtual double* NetConnectPos (const double T, const double* const X, int iNetConnect);

    const virtual double* NetConnectVel (const double T, const double* const X, int iNetConnect);

    const virtual double* BRConnectPos (const double T, const double* const X, int iBRConn);

    const virtual double* BRConnectVel (const double T, const double* const X, int iBRConn);

    const virtual double* FastConnectPos (const double T, const double* const X, int iFastConn);

    const virtual double* FastConnectVel (const double T, const double* const X, int iFastConn);

    const virtual double* SkirtConnectPos (const double T, const double* const X, int iSkirtConn);

    const virtual double* SkirtConnectVel (const double T, const double* const X, int iSkirtConn);

    const virtual double* AddConnectPos (const double T, const double* const X, int iAddConn);

    const virtual double* AddConnectVel (const double T, const double* const X, int iAddConn);


    const virtual double* getVelLocalAHRS(const double T, const double* const X, int iPos);

    const virtual double* getPosLocalOriginAHRS(const double T, const double* const X, int iPos);

    //

    const virtual double* getVelGlobalAHRS(const double T, const double* const X, int iPos);

    const virtual double* getPosGlobalAHRS(const double T, const double* const X, int iPos);

    //

    //const virtual double* getRotVelLocalAHRS(const double T, const double* const X, int iPos); /// Rotation velocity of point on floater in local coordinate system (beta,v,z) given by index iPos.

    //const virtual double* getRotPosLocalAHRS(const double T, const double* const X, int iPos); /// Rotation position of point on floater in local coordinate system (beta,v,z) given by index iPos.


    const virtual double* NetConnectTotalForce (const double T, const double* const X);

    const virtual double* FastConnectTotalForce (const double T, const double* const X);

    const virtual double* BRConnectTotalForce (const double T, const double* const X);

    const virtual double* SkirtConnectTotalForce (const double T, const double* const X);

    const virtual double* AddConnectTotalForce (const double T, const double* const X);

    const virtual double* RBMxModalForcesFcn (const double T, const double* const X);

    const virtual double* SurfElevCenter (const double T, const double* const X);

    const virtual double* SurfElev (const double T, const double* const X);

    const virtual double* PartVel (const double T, const double* const X);

    const virtual double* RingElevCenter (const double T, const double* const X);

    const virtual double* RingElev (const double T, const double* const X);

    const virtual double* SigmarrFcn (const double T, const double* const X);

    const virtual double* RelDispZ (const double T, const double* const X);

    const virtual double* WaveInfo (const double T, const double* const X);

    const virtual double* FloaterCenterPos (const double T, const double* const X);


protected:

    // ISignalPort* m_Force;    /// Input port. The external force acting on the mass object

    int     m_PositionIndex;

    int     m_VelocityIndex;

    int     m_numElements;


    CEnvironment*   m_Environment;

    vector<double> m_omg;

    vector<double> m_zeta;

    vector<double> m_waveDir;

    vector<double> m_phaseAngle;

    vector<double> m_waveNumber;


    double  m_waveInfo[3];


    double* m_NetConnectPos;

    double* m_NetConnectVel;

    double* m_BRConnectPos;

    double* m_BRConnectVel;

    double* m_FastConnectPos;

    double* m_FastConnectVel;

    double* m_SkirtConnectPos;

    double* m_SkirtConnectVel;

    double* m_AddConnectPos;

    double* m_AddConnectVel;

    double  m_totalNetForce[3];

    double  m_totalFastForce[3];

    double  m_totalBRForce[3];

    double  m_totalSkirtForce[3];

    double  m_totalAddForce[3];


    double  m_RBMxModalForces[4];


    ISignalPort ** m_NetConnectExtForce;

    ISignalPort ** m_BRConnectExtForce;

    ISignalPort ** m_FastConnectExtForce;

    ISignalPort ** m_SkirtConnectExtForce;

    ISignalPort ** m_AddConnectExtForce;


    double  m_NetConnectModalForce[5];

    double  m_BRConnectModalForce[5];

    double  m_FastConnectModalForce[5];

    double  m_SkirtConnectModalForce[5];

    double  m_AddConnectModalForce[5];


    void NetConnectModalForces  (const double T, const double* const X, int nMode /*, double** netConnectForce*/);

    void BRConnectModalForces   (const double T, const double* const X, int nMode);

    void FastConnectModalForces (const double T, const double* const X, int nMode);

    void SkirtConnectModalForces(const double T, const double* const X, int nMode);

    void AddConnectModalForces  (const double T, const double* const X, int nMode);

    void TensionForcesPiecewiseConstant(const double T, const double* const X);

    void CosineSineFcn(int m, int n, double beta0, double beta1, int segments, double* fcnValue);


    void SectionPositions(const double* const X);


    double ModalBouyancyForce(int iMode);


    double m_surfElevCenter;

    double m_surfElev;

    double m_partVel[3];

    double m_ringElevCenter;


    double m_ringElev;

    double m_ringElevBeta;


    double m_sigmarr;

    double m_sigmarrBeta;


    double m_relDispZ;

    double m_relDispZBeta;


    double m_floaterCenterPos[3];


    int m_nT;               // Number of segements for Tension calculation.

    double* m_T;                // Tension forces. Piecewise constant.

    double* m_TTheta;           // Angles (position) for centroid of segment with constant tension.

    double*** m_TCosCosInt;     // Integral of cosine and sine for alle modes and segments with constant tension

    double*** m_TSinSinInt;     // Integral of cosine and sine for alle modes and segments with constant tension

    double*** m_TCosSinInt;     // Integral of cosine and sine for alle modes and segments with constant tension

    double*** m_TSinCosInt;     // Integral of cosine and sine for alle modes and segments with constant tension

    typedef Eigen::Matrix<double, 2, 2> mat2;

    typedef Eigen::Matrix<double, 2, 1> cvec2;

    //typedef Eigen::Matrix<double, 3, 1> cvec3;


    int     m_nPortsAHRS;

    double* m_betaAHRS;

    double* m_velLocalAHRS;

    double* m_posLocalOriginAHRS;

    double* m_velGlobalAHRS;

    double* m_posGlobalAHRS;

    //double* m_rotVelLocalAHRS;    /// Array with rotation velocity in global coordinate system (x,y,z) (For comparison with AHRS data)

    //double* m_rotPosLocalAHRS;    /// Array with rotation position in global coordinate system (x,y,z) (For comparison with AHRS data)


    double  RadialPositionOrigin(const double* const X, double beta);

    double  RadialVelocity(const double* const X, double beta);


    int         m_NumConPoint;


    Contact::ContactObject      m_Vessel;


    double      m_UpdateDT;                                                                 // Update interval

    double      m_UpdateNT;                                                                 // Time for next update

    double      m_ContactBeta;

    double      m_ContactPos[3];

    double      m_ContactForce[6];

    double      m_ContactModalForce[5];

    void        CalContactForce(const double T, const double* const X);

    void        CalContactModalForce(const double T, const double* const X, int nMode);

    const virtual double* OutContactPosition(const double T, const double* const X);

    const virtual double* OutContactForce(const double T, const double* const X);


// private:

    double  m_mass2D;

    double  m_p;

    double  m_dNetPos;

    double  m_nPipes;

    double  m_c;

    double  m_bw;

    double  m_R;

    double  m_E;

    double  m_Ir;

    double  m_Iz;

    double  m_Im_z;

    double  m_tWall;

    double  m_DampFact;

    int     m_NModes;

    double  m_Ux;

    double  m_Uy;

    double  m_Udir;

    double  m_U;

    double  m_CD;

    double  m_CDt;

    double  m_F_Ux;

    double  m_g;

    // double   WaveNumber; ///Wave number regular wave

    double  m_RhoWater;

    double  m_initPos[3];


    double  kRadSpring;

    double  RadSpringOn;

    double  WaveCouplingOn;

    double  PosRadSpring[4];

    double  ModalSpringForce;

    double  DeltaL_RadSpring[4];


    double*     m_b22;

    double*     m_b22_visc;

    double*     m_c22;

    double**    m_b33;

    double*     m_b33_visc;

    double      m_b66_visc;

    double*     m_c33;

    double*     m_Kn;           // Integral value needed for calculation of each modal added mass.

    double**    m_a33;

    double      m_a22_lim;

    double      m_a22_Inf;

    double      m_a22_Unity;

    bool        m_viscOn_b22;

    bool        m_viscOn_b33;

    bool        m_nLinOn_b22;

    bool        m_nLinOn_b33;

    double      m_viscAmp_b22;

    double      m_viscAmp_b33;

    double      m_b22_nLinOn;

    double      m_b33_nLinOn;

    double      m_Iz_parAxFact;


    double  m_EIr;

    double  m_EIz;

    // double  PI; /// Pi.

    double  m_Axy;

    double  m_ForceFactor;

    double  m_MassFactor;

    double  EXP_OMG_T_33_COS;

    double  EXP_OMG_T_33_SIN;

    double  EXP_OMG_T_22_COS;

    double  EXP_OMG_T_22_SIN;

    int     nWaveFreq;

    double  ** m_Bessel;


    int     m_nNetConnect;

    int     m_nBRConnect;

    int     m_nFastConnect;

    int     m_nSkirtConnect;

    int     m_nAddConnect;

    double* m_netConnectBeta;

    double* m_BRConnectBeta;

    double* m_FastConnectBeta;

    double* m_SkirtConnectBeta;

    double* m_AddConnectBeta;


    double      m_mModal;

    double**    m_sectPos;

    double      m_NetForcesOn;

    double      m_NetForcesStart;

    double      m_modMassOn;

    double      m_yawCorrOn;


    double  m_CurrSurfVel[3];

    double  m_posRingCent[3];


    double  SectionPos(const double* const X, const double beta, const int iDOF, const double offset);

    void    BesselFunc(double k, double R, int n, int i, int N);

    void    KnFunc(int n, int N);

    void    AddMass33Fcn(double p, double c, double R, double Kn, int n);

    void    AddMass22Fcn(double p, double c);

    double  TrapezeInt(double* fx, double* x, const int nElem, const int loop, const double xLoop);

    void    FloaterSectPos(const double* const X, double beta, double radOffset, double* pos);

    void    FloaterSectVel(const double* const X, double beta, double* vel);


    double StruveFunc(int n, double z);

    double KnFunc2(int modenumber);

    double* m_a33f, m_b33f;

    std::complex<double> CnFunc(int modenumber, double wavenumber);

    void RadiationForcesHeave(int modenumber, double wavenumber, int waveindex);

//  void radiationForces();


private:


#ifdef FH_VISUALIZATION

    Ogre::SceneNode*    m_RenderNode;

    Ogre::SceneNode**   m_ManualObjectNodes;

    double              m_Radius;

    string              m_Material;

    double              m_Color[3];

#endif

};

}

#endif

CEnvironment
Definition: CEnvironment.h:10

Contact::ContactObject
Definition: CContact.h:108

Netcage::CFloatingCollar
Definition: CFloatingCollar.h:134

Netcage::CFloatingCollar::kRadSpring
double kRadSpring
Initial position of floater in (x,y,eta6). x-ccord., y-coord. and rotaion (yaw) angle.
Definition: CFloatingCollar.h:609

Netcage::CFloatingCollar::m_nPortsAHRS
int m_nPortsAHRS
RACE.
Definition: CFloatingCollar.h:550

Netcage::CFloatingCollar::RadialVelocity
double RadialVelocity(const double *const X, double beta)
Calculates radial displacement (positive inwards/toward center of floater).

Netcage::CFloatingCollar::m_totalAddForce
double m_totalAddForce[3]
Total force (x,y,z) subjected in floater from permanent skirt.
Definition: CFloatingCollar.h:493

Netcage::CFloatingCollar::m_BRConnectModalForce
double m_BRConnectModalForce[5]
Modal force from net connections.
Definition: CFloatingCollar.h:504

Netcage::CFloatingCollar::PosRadSpring
double PosRadSpring[4]
Coupling between horizontal and vertical displacement in terms of taking horizontal rigid body motion...
Definition: CFloatingCollar.h:612

Netcage::CFloatingCollar::m_Im_z
double m_Im_z
2nd area moment of the floater section for bending around the z-axis
Definition: CFloatingCollar.h:592

Netcage::CFloatingCollar::m_a22_lim
double m_a22_lim
2D modal added mass for the floater in heave (z-direction)
Definition: CFloatingCollar.h:625

Netcage::CFloatingCollar::m_totalFastForce
double m_totalFastForce[3]
Total force (x,y,z) subjected on floater from the net.
Definition: CFloatingCollar.h:490

Netcage::CFloatingCollar::SkirtConnectPos
virtual const double * SkirtConnectPos(const double T, const double *const X, int iSkirtConn)
Output port. Returns position of indexed skirt connection point.

Netcage::CFloatingCollar::m_EIz
double m_EIz
Bending stiffness of floater section for bending around the horizontal r-axis.
Definition: CFloatingCollar.h:639

Netcage::CFloatingCollar::BRConnectVel
virtual const double * BRConnectVel(const double T, const double *const X, int iBRConn)
Output port. Returns velocity of indexed bottom ring connection point.

Netcage::CFloatingCollar::m_sigmarr
double m_sigmarr
Position at which elevation/vertical displacement of floater is calculaleted.
Definition: CFloatingCollar.h:529

Netcage::CFloatingCollar::m_NumConPoint
int m_NumConPoint
Contact.
Definition: CFloatingCollar.h:564

Netcage::CFloatingCollar::EXP_OMG_T_22_COS
double EXP_OMG_T_22_COS
Time dependency of excitation forces in heave for mode sin(n*beta). Proportinal to sin(Omg*T).
Definition: CFloatingCollar.h:646

Netcage::CFloatingCollar::m_NetConnectVel
double * m_NetConnectVel
Position (x,y,z) of net connections to floater.
Definition: CFloatingCollar.h:480

Netcage::CFloatingCollar::m_CD
double m_CD
Current velocity (absolute value)
Definition: CFloatingCollar.h:600

Netcage::CFloatingCollar::m_SkirtConnectExtForce
ISignalPort ** m_SkirtConnectExtForce
Signal port. Force on floater from anchor lines.
Definition: CFloatingCollar.h:500

Netcage::CFloatingCollar::m_nBRConnect
int m_nBRConnect
number of net connections
Definition: CFloatingCollar.h:652

Netcage::CFloatingCollar::TrapezeInt
double TrapezeInt(double *fx, double *x, const int nElem, const int loop, const double xLoop)
2D added mass of the floater section in surge. Independent of mode shape. Strip theory applied.

Netcage::CFloatingCollar::m_ringElevBeta
double m_ringElevBeta
Ring elevation/vertical displacement at chosen position beta.
Definition: CFloatingCollar.h:527

Netcage::CFloatingCollar::m_BRConnectExtForce
ISignalPort ** m_BRConnectExtForce
Signal port. Force from net connections on floater.
Definition: CFloatingCollar.h:498

Netcage::CFloatingCollar::m_E
double m_E
Floater radius. From center of coordinate system to center between the two pipes.
Definition: CFloatingCollar.h:589

Netcage::CFloatingCollar::m_EIr
double m_EIr
Factor for strength of parallel axis theorem (2nd area moment/bending stiffness). Valid values range ...
Definition: CFloatingCollar.h:638

Netcage::CFloatingCollar::m_Ux
double m_Ux
Number of modes in the modal analysis.
Definition: CFloatingCollar.h:596

Netcage::CFloatingCollar::m_Ir
double m_Ir
Modulus of elasticity of floater material.
Definition: CFloatingCollar.h:590

Netcage::CFloatingCollar::m_b66_visc
double m_b66_visc
Linearized viscous damping (Morison drag) in heave.
Definition: CFloatingCollar.h:621

Netcage::CFloatingCollar::m_posRingCent
double m_posRingCent[3]
Current velocity in center of ring.
Definition: CFloatingCollar.h:670

Netcage::CFloatingCollar::StruveFunc
double StruveFunc(int n, double z)
Return floater velocity (Ux,Uy,Uz) at position beta.

Netcage::CFloatingCollar::m_UpdateDT
double m_UpdateDT
External object involved in contact.
Definition: CFloatingCollar.h:568

Netcage::CFloatingCollar::OutContactForce
virtual const double * OutContactForce(const double T, const double *const X)
Output contact position.

Netcage::CFloatingCollar::m_BRConnectVel
double * m_BRConnectVel
Position (x,y,z) of bottom ring cables connected to floater.
Definition: CFloatingCollar.h:482

Netcage::CFloatingCollar::SigmarrFcn
virtual const double * SigmarrFcn(const double T, const double *const X)
Output port. Returns bending stress around the local y-axis at position given by the parameter Bendin...

Netcage::CFloatingCollar::NetConnectModalForces
void NetConnectModalForces(const double T, const double *const X, int nMode)
Modal force from additional connections.

Netcage::CFloatingCollar::NetConnectVel
virtual const double * NetConnectVel(const double T, const double *const X, int iNetConnect)
Output port. Returns velocity of indexed net connection point.

Netcage::CFloatingCollar::m_relDispZ
double m_relDispZ
Position at which bending stress is calculated.
Definition: CFloatingCollar.h:532

Netcage::CFloatingCollar::AddConnectPos
virtual const double * AddConnectPos(const double T, const double *const X, int iAddConn)
Output port. Returns position of indexed additional connection point.

Netcage::CFloatingCollar::m_RBMxModalForces
double m_RBMxModalForces[4]
Total force (x,y,z) subjected in floater from additional connectors.
Definition: CFloatingCollar.h:495

Netcage::CFloatingCollar::FastConnectPos
virtual const double * FastConnectPos(const double T, const double *const X, int iFastConn)
Output port. Returns position of indexed bridle connection point.

Netcage::CFloatingCollar::m_netConnectBeta
double * m_netConnectBeta
Number of additional connectors/fastening points on floating collar.
Definition: CFloatingCollar.h:656

Netcage::CFloatingCollar::m_totalBRForce
double m_totalBRForce[3]
Total force (x,y,z) subjected on floater from fastening (bridle) connections.
Definition: CFloatingCollar.h:491

Netcage::CFloatingCollar::m_initPos
double m_initPos[3]
Sea water density.
Definition: CFloatingCollar.h:606

Netcage::CFloatingCollar::m_DampFact
double m_DampFact
Pipe wall thickness.
Definition: CFloatingCollar.h:594

Netcage::CFloatingCollar::m_NetConnectPos
double * m_NetConnectPos
Water particle etc acceleration in (x,y,z)=(0,0,0)
Definition: CFloatingCollar.h:479

Netcage::CFloatingCollar::KnFunc2
double KnFunc2(int modenumber)
The Struve function H_n(z)

Netcage::CFloatingCollar::m_BRConnectBeta
double * m_BRConnectBeta
Position of net connections. Array containing angles in local coordinate system.
Definition: CFloatingCollar.h:657

Netcage::CFloatingCollar::m_b22
double * m_b22
Displacement at attachment point for radial springs.
Definition: CFloatingCollar.h:616

Netcage::CFloatingCollar::m_nSkirtConnect
int m_nSkirtConnect
Number of anchoring connections on the floater.
Definition: CFloatingCollar.h:654

Netcage::CFloatingCollar::getVelLocalAHRS
virtual const double * getVelLocalAHRS(const double T, const double *const X, int iPos)
Output ports. For project: RACE - Anleggsintegritet.

Netcage::CFloatingCollar::m_VelocityIndex
int m_VelocityIndex
The index of the position state in the state array.
Definition: CFloatingCollar.h:466

Netcage::CFloatingCollar::m_totalSkirtForce
double m_totalSkirtForce[3]
Total force (x,y,z) subjected on floater from bottom ring connections.
Definition: CFloatingCollar.h:492

Netcage::CFloatingCollar::FastConnectVel
virtual const double * FastConnectVel(const double T, const double *const X, int iFastConn)
Output port. Returns velocity of indexed bridle connection point.

Netcage::CFloatingCollar::m_SkirtConnectModalForce
double m_SkirtConnectModalForce[5]
Modal force from anchor-lines.
Definition: CFloatingCollar.h:506

Netcage::CFloatingCollar::m_AddConnectExtForce
ISignalPort ** m_AddConnectExtForce
Signal port. Force on floater from permanent skirt.
Definition: CFloatingCollar.h:501

Netcage::CFloatingCollar::m_R
double m_R
2D water plane area [m]
Definition: CFloatingCollar.h:588

Netcage::CFloatingCollar::m_b22_visc
double * m_b22_visc
Structural damping in sway.
Definition: CFloatingCollar.h:617

Netcage::CFloatingCollar::m_SkirtConnectVel
double * m_SkirtConnectVel
Position (x,y,z) of permanent skirt connections to floater.
Definition: CFloatingCollar.h:486

Netcage::CFloatingCollar::FloaterSectVel
void FloaterSectVel(const double *const X, double beta, double *vel)
Return floater position (x,y,z) at position beta.

Netcage::CFloatingCollar::m_FastConnectPos
double * m_FastConnectPos
Velocity (Ux,Uy,Uz) of floater section where bottom ring cables/chains/ropes are connected.
Definition: CFloatingCollar.h:483

Netcage::CFloatingCollar::AddMass33Fcn
void AddMass33Fcn(double p, double c, double R, double Kn, int n)
Integral value needed for calculation of each modal added mass.

Netcage::CFloatingCollar::getVelGlobalAHRS
virtual const double * getVelGlobalAHRS(const double T, const double *const X, int iPos)
Position of point on floater related to floater origin in floater local coordinate system (beta,...

Netcage::CFloatingCollar::DeltaL_RadSpring
double DeltaL_RadSpring[4]
Modal spring force.
Definition: CFloatingCollar.h:614

Netcage::CFloatingCollar::m_nLinOn_b22
bool m_nLinOn_b22
Boolean. True means viscous damping is activated.
Definition: CFloatingCollar.h:630

Netcage::CFloatingCollar::m_U
double m_U
Current direction in global coordinates.
Definition: CFloatingCollar.h:599

Netcage::CFloatingCollar::CFloatingCollar
CFloatingCollar(const string &simObjectName, ISimObjectCreator *const creator)
Reads parameters, registers states, input/output ports and shared resources.

Netcage::CFloatingCollar::OdeFcn
void OdeFcn(const double T, const double *const X, double *const XDot, const bool IsMajorTimeStep)
Computes object derivatives as a function of time, states and input ports.

Netcage::CFloatingCollar::m_zeta
vector< double > m_zeta
Wave frequency vector.
Definition: CFloatingCollar.h:471

Netcage::CFloatingCollar::SkirtConnectVel
virtual const double * SkirtConnectVel(const double T, const double *const X, int iSkirtConn)
Output port. Returns velocity of indexed skirt connection point.

Netcage::CFloatingCollar::m_waveDir
vector< double > m_waveDir
Wave amplitude vector.
Definition: CFloatingCollar.h:472

Netcage::CFloatingCollar::m_SkirtConnectPos
double * m_SkirtConnectPos
Velocity (Ux,Uy,Uz) of floater section where anchor lines are connected.
Definition: CFloatingCollar.h:485

Netcage::CFloatingCollar::SkirtConnectTotalForce
virtual const double * SkirtConnectTotalForce(const double T, const double *const X)
Output port. Returns total force transferred to collar from skirt connection points.

Netcage::CFloatingCollar::m_SkirtConnectBeta
double * m_SkirtConnectBeta
Position of anchoring connections. Array containing angles in local coordinate system....
Definition: CFloatingCollar.h:659

Netcage::CFloatingCollar::nWaveFreq
int nWaveFreq
Time dependency of excitation forces for horizontal deformation for mode sin(n*beta)....
Definition: CFloatingCollar.h:648

Netcage::CFloatingCollar::getPosGlobalAHRS
virtual const double * getPosGlobalAHRS(const double T, const double *const X, int iPos)
Velocity of point on floater in global coordinate system (x,y,z) given by index iPos.

Netcage::CFloatingCollar::WaveInfo
virtual const double * WaveInfo(const double T, const double *const X)
Output port. Returns dynamic pressure at the x,y,z origin (0,0,0)

Netcage::CFloatingCollar::m_nAddConnect
int m_nAddConnect
Number of skirt (permanent) connections.
Definition: CFloatingCollar.h:655

Netcage::CFloatingCollar::ModalSpringForce
double ModalSpringForce
Position of radial springs.
Definition: CFloatingCollar.h:613

Netcage::CFloatingCollar::m_ContactModalForce
double m_ContactModalForce[5]
Contact forces.
Definition: CFloatingCollar.h:573

Netcage::CFloatingCollar::SectionPos
double SectionPos(const double *const X, const double beta, const int iDOF, const double offset)
Center position of ring (only x-pos; y and z equals zero)

Netcage::CFloatingCollar::KnFunc
void KnFunc(int n, int N)
Value of Bessel functions of the first kind dependent on floater raduis, motion mode and wave number.

Netcage::CFloatingCollar::NetConnectPos
virtual const double * NetConnectPos(const double T, const double *const X, int iNetConnect)
Output port. Returns position of indexed net connection point.

Netcage::CFloatingCollar::m_sectPos
double ** m_sectPos
2D modal floater ring mass.
Definition: CFloatingCollar.h:663

Netcage::CFloatingCollar::AddMass22Fcn
void AddMass22Fcn(double p, double c)
2D modal added mass of the floater section in heave. Dependent on motion mode number and geometry.

Netcage::CFloatingCollar::m_posLocalOriginAHRS
double * m_posLocalOriginAHRS
Array with velocity in local coordinate system (beta*R,v,z) (For comparison with AHRS data)
Definition: CFloatingCollar.h:553

Netcage::CFloatingCollar::m_numElements
int m_numElements
The index of the velocity state in the state array.
Definition: CFloatingCollar.h:467

Netcage::CFloatingCollar::SurfElev
virtual const double * SurfElev(const double T, const double *const X)
Output port. Returns surface elevation at position specified by input parameter.

Netcage::CFloatingCollar::m_Uy
double m_Uy
Current velocity in x-direction.
Definition: CFloatingCollar.h:597

Netcage::CFloatingCollar::BRConnectPos
virtual const double * BRConnectPos(const double T, const double *const X, int iBRConn)
Output port. Returns position of indexed bottom ring connection point.

Netcage::CFloatingCollar::m_NModes
int m_NModes
Damping. Level of critical damping for each mode.
Definition: CFloatingCollar.h:595

Netcage::CFloatingCollar::m_AddConnectVel
double * m_AddConnectVel
Position (x,y,z) of additional connections to floater.
Definition: CFloatingCollar.h:488

Netcage::CFloatingCollar::BRConnectTotalForce
virtual const double * BRConnectTotalForce(const double T, const double *const X)
Output port. Returns total force transferred to collar from bottom ring connection points.

Netcage::CFloatingCollar::m_AddConnectPos
double * m_AddConnectPos
Velocity (Ux,Uy,Uz) of floater section where skirt are connected.
Definition: CFloatingCollar.h:487

Netcage::CFloatingCollar::OutContactPosition
virtual const double * OutContactPosition(const double T, const double *const X)
Calculate modal forces from contact.

Netcage::CFloatingCollar::m_RhoWater
double m_RhoWater
Acceleration of gravity.
Definition: CFloatingCollar.h:605

Netcage::CFloatingCollar::FloaterCenterPos
virtual const double * FloaterCenterPos(const double T, const double *const X)
Output port. Returns the centre position of the floating collar See PortDefs.h.

Netcage::CFloatingCollar::m_Vessel
Contact::ContactObject m_Vessel
Number of discretized points for contact detection.
Definition: CFloatingCollar.h:566

Netcage::CFloatingCollar::WaveCouplingOn
double WaveCouplingOn
Radial spring on or off. 1=on, 0=off.
Definition: CFloatingCollar.h:611

Netcage::CFloatingCollar::m_relDispZBeta
double m_relDispZBeta
Relative vertical displacement between floater section center and surface at position beta.
Definition: CFloatingCollar.h:533

Netcage::CFloatingCollar::m_a22_Inf
double m_a22_Inf
2D added mass for the floater in surge (x-direction)
Definition: CFloatingCollar.h:626

Netcage::CFloatingCollar::m_omg
vector< double > m_omg
Pointer to DeepSeaGravityWaves -> CEnvironment.
Definition: CFloatingCollar.h:470

Netcage::CFloatingCollar::m_Iz
double m_Iz
2nd area moment of the floater section for bending around the horizontal r-axis
Definition: CFloatingCollar.h:591

Netcage::CFloatingCollar::FloaterSectPos
void FloaterSectPos(const double *const X, double beta, double radOffset, double *pos)
Trapeze integration method.

Netcage::CFloatingCollar::FastConnectTotalForce
virtual const double * FastConnectTotalForce(const double T, const double *const X)
Output port. Returns total force transferred to collar from bridle connection points.

Netcage::CFloatingCollar::m_velGlobalAHRS
double * m_velGlobalAHRS
Array with position in local coordinate system (beta*R,v,z) (For comparison with AHRS data)
Definition: CFloatingCollar.h:554

Netcage::CFloatingCollar::m_Kn
double * m_Kn
Stiffness, hydrostatic and structural.
Definition: CFloatingCollar.h:623

Netcage::CFloatingCollar::m_p
double m_p
2D (mass per meter) of the floater
Definition: CFloatingCollar.h:583

Netcage::CFloatingCollar::m_NetConnectModalForce
double m_NetConnectModalForce[5]
Signal port. Force on floater from additional connectors.
Definition: CFloatingCollar.h:503

Netcage::CFloatingCollar::m_nLinOn_b33
bool m_nLinOn_b33
Boolean. True means non-linear damping is activated.
Definition: CFloatingCollar.h:631

Netcage::CFloatingCollar::m_g
double m_g
Modal water current force in x-direction.
Definition: CFloatingCollar.h:603

Netcage::CFloatingCollar::m_tWall
double m_tWall
Moment of inertia around the z-axis.
Definition: CFloatingCollar.h:593

Netcage::CFloatingCollar::m_FastConnectVel
double * m_FastConnectVel
Position (x,y,z) of anchor lines connections to floater.
Definition: CFloatingCollar.h:484

Netcage::CFloatingCollar::CalContactModalForce
void CalContactModalForce(const double T, const double *const X, int nMode)
Calculate contact forces.

Netcage::CFloatingCollar::m_ringElevCenter
double m_ringElevCenter
Particle velocity in x=y=0 for verification purposes.
Definition: CFloatingCollar.h:524

Netcage::CFloatingCollar::m_ringElev
double m_ringElev
Elevation of ring in center (beta = pi/2). Used to validate m_surfElevCenter.
Definition: CFloatingCollar.h:526

Netcage::CFloatingCollar::m_Udir
double m_Udir
Current velocity in y-direction.
Definition: CFloatingCollar.h:598

Netcage::CFloatingCollar::NetConnectTotalForce
virtual const double * NetConnectTotalForce(const double T, const double *const X)
Position of point on floater in global coordinate system (x,y,z) given by index iPos.

Netcage::CFloatingCollar::m_F_Ux
double m_F_Ux
Tangential drag coefficient pipe.
Definition: CFloatingCollar.h:602

Netcage::CFloatingCollar::CalContactForce
void CalContactForce(const double T, const double *const X)
Modal forces from contact.

Netcage::CFloatingCollar::RingElevCenter
virtual const double * RingElevCenter(const double T, const double *const X)
Output port. Returns floating collar elevation at the angular position pi/2.

Netcage::CFloatingCollar::m_viscOn_b33
bool m_viscOn_b33
Boolean. True means viscous damping is activated.
Definition: CFloatingCollar.h:629

Netcage::CFloatingCollar::AddConnectTotalForce
virtual const double * AddConnectTotalForce(const double T, const double *const X)
Output port. Returns total force transferred to collar from additional connection points.

Netcage::CFloatingCollar::m_a33f
double * m_a33f
Sum of infinite series.
Definition: CFloatingCollar.h:684

Netcage::CFloatingCollar::RadialPositionOrigin
double RadialPositionOrigin(const double *const X, double beta)
Array with position in global coordinate system (x,y,z) (For comparison with AHRS data)

Netcage::CFloatingCollar::m_nT
int m_nT
Center position of floater.
Definition: CFloatingCollar.h:537

Netcage::CFloatingCollar::EXP_OMG_T_33_SIN
double EXP_OMG_T_33_SIN
Time dependency of excitation forces in heave for mode cos(n*beta). Proportinal to sin(Omg*T).
Definition: CFloatingCollar.h:645

Netcage::CFloatingCollar::m_waveNumber
vector< double > m_waveNumber
Wave phase angle vector.
Definition: CFloatingCollar.h:474

Netcage::CFloatingCollar::m_nPipes
double m_nPipes
Radial offsett of net position. 0 equals center of inner pipe. Positive inwards.
Definition: CFloatingCollar.h:585

Netcage::CFloatingCollar::m_CDt
double m_CDt
Drag coefficient pipe.
Definition: CFloatingCollar.h:601

Netcage::CFloatingCollar::RingElev
virtual const double * RingElev(const double T, const double *const X)
Output port. Returns floating collar elevation at the angular position given by the parameter RingEle...

Netcage::CFloatingCollar::m_FastConnectModalForce
double m_FastConnectModalForce[5]
Modal force from bottom ring.
Definition: CFloatingCollar.h:505

Netcage::CFloatingCollar::AddConnectVel
virtual const double * AddConnectVel(const double T, const double *const X, int iAddConn)
Output port. Returns velocity of indexed additional connection point.

Netcage::CFloatingCollar::m_surfElev
double m_surfElev
Wave elevation in dynamic center of the floater.
Definition: CFloatingCollar.h:522

Netcage::CFloatingCollar::m_bw
double m_bw
Floater pipe radius.
Definition: CFloatingCollar.h:587

Netcage::CFloatingCollar::m_b33
double ** m_b33
Structural stiffness in sway.
Definition: CFloatingCollar.h:619

Netcage::CFloatingCollar::PartVel
virtual const double * PartVel(const double T, const double *const X)
Output port. Returns particle velocity at the x,y origin (0,0)

Netcage::CFloatingCollar::m_mass2D
double m_mass2D
Contact.
Definition: CFloatingCollar.h:582

Netcage::CFloatingCollar::m_FastConnectBeta
double * m_FastConnectBeta
Position of bottom ring connections. Array containing angles in local coordinate system.
Definition: CFloatingCollar.h:658

Netcage::CFloatingCollar::m_b33_visc
double * m_b33_visc
Damping in heave (structural)
Definition: CFloatingCollar.h:620

Netcage::CFloatingCollar::m_dNetPos
double m_dNetPos
Half distance between center of the pipes.
Definition: CFloatingCollar.h:584

Netcage::CFloatingCollar::m_floaterCenterPos
double m_floaterCenterPos[3]
Position at which relative motion is evaluated.
Definition: CFloatingCollar.h:535

Netcage::CFloatingCollar::m_NetConnectExtForce
ISignalPort ** m_NetConnectExtForce
Rigid body motion modal forces in x-direction. Bridle, Net, Bottom ring, Skirt.
Definition: CFloatingCollar.h:497

Netcage::CFloatingCollar::RelDispZ
virtual const double * RelDispZ(const double T, const double *const X)
Output port. Returns relative vertical displacement between floating collar and surface at position g...

Netcage::CFloatingCollar::m_waveInfo
double m_waveInfo[3]
Vector containing wave numbers of all wave components.
Definition: CFloatingCollar.h:477

Netcage::CFloatingCollar::m_partVel
double m_partVel[3]
Surface elevation in x=y=0. For verification purposes.
Definition: CFloatingCollar.h:523

Netcage::CFloatingCollar::m_ContactForce
double m_ContactForce[6]
Position at contact.
Definition: CFloatingCollar.h:572

Netcage::CFloatingCollar::RadSpringOn
double RadSpringOn
Radial spring stiffness. Dummy point load to simulate mooring lines.
Definition: CFloatingCollar.h:610

Netcage::CFloatingCollar::m_AddConnectBeta
double * m_AddConnectBeta
Position of skirt connections. Array containing angles in local coordinate system.
Definition: CFloatingCollar.h:660

Netcage::CFloatingCollar::m_AddConnectModalForce
double m_AddConnectModalForce[5]
Modal force from permanent skirt.
Definition: CFloatingCollar.h:507

Netcage::CFloatingCollar::m_phaseAngle
vector< double > m_phaseAngle
Wave direction vector.
Definition: CFloatingCollar.h:473

Netcage::CFloatingCollar::m_Axy
double m_Axy
Bending stiffness of floater section for bending around the z-axis.
Definition: CFloatingCollar.h:641

Netcage::CFloatingCollar::m_velLocalAHRS
double * m_velLocalAHRS
Position of observation ports in local coordinates (beta) (For comparison with AHRS data)
Definition: CFloatingCollar.h:552

Netcage::CFloatingCollar::RadiationForcesHeave
void RadiationForcesHeave(int modenumber, double wavenumber, int waveindex)
Integral function needed for calculation of hydrodyn. radiation forces.

Netcage::CFloatingCollar::m_b22_nLinOn
double m_b22_nLinOn
Viscous damping multiplying/amplifying factor.
Definition: CFloatingCollar.h:634

Netcage::CFloatingCollar::m_Iz_parAxFact
double m_Iz_parAxFact
Value set to 1 or 0. 1 Imply that non-linear damping is activated.
Definition: CFloatingCollar.h:636

Netcage::CFloatingCollar::RBMxModalForcesFcn
virtual const double * RBMxModalForcesFcn(const double T, const double *const X)
Output port. Returns total force for rigid body motion in x direction.

Netcage::CFloatingCollar::m_ForceFactor
double m_ForceFactor
Area of submerged pipe (section) per meter.
Definition: CFloatingCollar.h:642

Netcage::CFloatingCollar::m_viscAmp_b33
double m_viscAmp_b33
Viscous damping multiplying/amplifying factor.
Definition: CFloatingCollar.h:633

Netcage::CFloatingCollar::m_b33_nLinOn
double m_b33_nLinOn
Value set to 1 or 0. 1 Imply that non-linear damping is activated.
Definition: CFloatingCollar.h:635

Netcage::CFloatingCollar::m_viscAmp_b22
double m_viscAmp_b22
Boolean. True means non-linear damping is activated.
Definition: CFloatingCollar.h:632

Netcage::CFloatingCollar::CnFunc
std::complex< double > CnFunc(int modenumber, double wavenumber)
Frequency dependent radiation coefficients in heave.

Netcage::CFloatingCollar::m_BRConnectPos
double * m_BRConnectPos
Velocity (u,v,w) of net connections between floater and net.
Definition: CFloatingCollar.h:481

Netcage::CFloatingCollar::m_Environment
CEnvironment * m_Environment
Number of elements in visualization.
Definition: CFloatingCollar.h:469

Netcage::CFloatingCollar::getPosLocalOriginAHRS
virtual const double * getPosLocalOriginAHRS(const double T, const double *const X, int iPos)
Velocity of point on floater in floater local coordinate system (beta,v,z) given by index iPos.

Netcage::CFloatingCollar::m_ContactPos
double m_ContactPos[3]
Position at contact (angle)
Definition: CFloatingCollar.h:571

Netcage::CFloatingCollar::EXP_OMG_T_22_SIN
double EXP_OMG_T_22_SIN
Time dependency of excitation forces for horizontal deformation for mode cos(n*beta)....
Definition: CFloatingCollar.h:647

Netcage::CFloatingCollar::m_c22
double * m_c22
Linearized viscous damping (Morison drag) in sway.
Definition: CFloatingCollar.h:618

Netcage::CFloatingCollar::m_nFastConnect
int m_nFastConnect
Number of bottom ring connections.
Definition: CFloatingCollar.h:653

Netcage::CFloatingCollar::m_FastConnectExtForce
ISignalPort ** m_FastConnectExtForce
Signal port. Force from bottom ring connections.
Definition: CFloatingCollar.h:499

Netcage::CFloatingCollar::m_c33
double * m_c33
Viscous damping for yaw motin (rotation around z-axis)
Definition: CFloatingCollar.h:622

Netcage::CFloatingCollar::m_mModal
double m_mModal
Position of additional connections. Array containing angles in local coordinate system.
Definition: CFloatingCollar.h:662

Netcage::CFloatingCollar::m_posGlobalAHRS
double * m_posGlobalAHRS
Array with velocity in global coordinate system (x,y,z) (For comparison with AHRS data)
Definition: CFloatingCollar.h:555

Netcage::CFloatingCollar::m_viscOn_b22
bool m_viscOn_b22
2D added mass for the floater in surge (x-direction)
Definition: CFloatingCollar.h:628

Netcage::CFloatingCollar::m_c
double m_c
Equals 1 for one-pipe floater. Equals 2 for two-pipe floater. Default value 2.
Definition: CFloatingCollar.h:586

Netcage::CFloatingCollar::m_a22_Unity
double m_a22_Unity
2D added mass for the floater in surge (x-direction)
Definition: CFloatingCollar.h:627

Netcage::CFloatingCollar::m_sigmarrBeta
double m_sigmarrBeta
Bending stress around the local y-axis (r-axis) at a specified position.
Definition: CFloatingCollar.h:530

Netcage::CFloatingCollar::SurfElevCenter
virtual const double * SurfElevCenter(const double T, const double *const X)
Output port. Returns surface elevation at the dynamic collar centre position.

Netcage::CFloatingCollar::m_totalNetForce
double m_totalNetForce[3]
Velocity (Ux,Uy,Uz) of floater section where additional connectors are connected.
Definition: CFloatingCollar.h:489

Netcage
Class modelling a Net cage.
Definition: CBottomRing.h:35