Inheritance diagram for BuoyCable:

Collaboration diagram for BuoyCable:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BuoyCable (CoRiBoDynamics::ConstraintSolver solver, ISimObjectCreator creator, double beta, string name)

virtual void	ComputeConstraints (const double T, const double *const X)

virtual void	InitialConditionSetup (double *const states, Eigen::Vector3d P0)

CoRiBoDynamics::StandardRigidElement *	GetPlate ()

CoRiBoDynamics::StandardRigidElement *	GetBuoy ()

double	GetPlateDiameter ()

void	AttachToPlate (int ix, const CoRiBoDynamics::Quat &null_angle)

virtual CollisionCheckInterface::GeometryVector	CheckForContact (CoRiBoDynamics::CollisionManager::ExternalObject &object)

Public Member Functions inherited from LineStructureGravityHydro
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LineStructureGravityHydro (CoRiBoDynamics::ConstraintSolver solver, ISimObjectCreator creator, LineSpec spec, std::string name)

void	setEnvironment (CEnvironment *e)

virtual void	ComputeConstraints (const double T, const double *const X)

virtual CollisionCheckInterface::GeometryVector	CheckForContact (CoRiBoDynamics::CollisionManager::ExternalObject &object)

double	GetElementLength ()

Public Member Functions inherited from CoRiBoDynamics::Structures::LineStructure
	LineStructure (ConstraintSolver solver, ISimObjectCreator creator, LineSpec spec, string name)

virtual void	ComputeConstraints (const double T, const double *const X)

virtual void	InitialConditionSetup (double *const states, const vec3 &P1, const vec3 &P2)

RigidElement *	getElement (int i)

std::vector< RigidElement * >	getElements ()

RigidElement *	getFirstElement ()

RigidElement *	getLastElement ()
	For use in project MarinSim. Otherwise commented out.

int	getNumElements ()
	For use in project MarinSim. Otherwise commented out.

double	getLength ()

double	GammaN ()

double	GammaMx ()

double	GammaMy ()

double	GammaT ()

Public Member Functions inherited from CoRiBoDynamics::JointConstraint
	JointConstraint (ConstraintSolver *solver)

virtual void	ComputeConstraints (const double T, const double *const X)

void	addBallJointCoupling (int elementA, int elementB, vec3 vectorA, vec3 vectorB, double Beta, double Alpha, double Gamma)

void	addHingeCoupling (int elementA, int elementB, vec3 vectorA, vec3 vectorB, vec3 axisA, vec3 axisB, double Beta, double Alpha, double Gamma, double AlphaFriction, double GammaFriction)

void	addRigidCoupling (int elementA, int elementB, vec3 vectorA, vec3 vectorB, double BetaN, double AlphaN, double GammaN, const Quat &nullAngle, const Quat &BetaM, const Quat &AlphaM, const Quat &GammaM)

int	addExternalBallJointCoupling (int element, vec3 vector, double Beta, double Alpha, double Gamma, const double Position, const double Velocity)

void	updateExternalBallJointCoupling (int ballJointCoupling, const double Position, const double Velocity)

vec3	getExternalBallJointCouplingForce (int ballJointCoupling)

int	addExternalRigidCoupling (int element, vec3 vectorExternalObject, vec3 vectorInternalObject, double BetaN, double AlphaN, double GammaN, const Quat &nullAngle, const Quat &BetaM, const Quat &AlphaM, const Quat &GammaM, const double Position, const double Velocity, const double Orientation, const double AngularVelocity)

void	updateExternalRigidCoupling (int rigidCoupling, const double Position, const double Velocity, const double Orientation, const double AngularVelocity)

vec6	getExternalRigidCouplingForce (int rigidCoupling)

vec3	getExternalBallJointCouplingForce (ExternalBallJointCoupling &Constraint)

vec6	getExternalRigidCouplingForce (ExternalRigidCoupling &Constraint)

Public Member Functions inherited from CoRiBoDynamics::ConstraintSet
	ConstraintSet (ConstraintSolver *solver)

virtual void	ComputeConstraints (const double T, const double *const X)=0

virtual GeometryVector	CheckForContact (CoRiBoDynamics::CollisionManager::ExternalObject &object)=0

Protected Attributes
CoRiBoDynamics::StandardRigidElement *	m_plate

CoRiBoDynamics::StandardRigidElement *	m_buoy

double	m_plate_diameter

double	m_plate_weight

double	m_buoy_radius

double	m_buoy_cone_height

double	m_buoy_total_height

double	m_buoy_weight

double	m_buoy_max_buoyancy

CoRiBoDynamics::vec6	m_buoy_added_mass

CoRiBoDynamics::vec6	m_buoy_potential_damping

CoRiBoDynamics::vec6	m_buoy_hydro_drag

CoRiBoDynamics::vec6	m_buoy_linear_spring

Protected Attributes inherited from LineStructureGravityHydro
CEnvironment *	m_environment

double	m_elemVolume

double	m_elemArea

double	m_elemProjArea

double	m_elemDensity

double	m_Cd_n
	Assumption that the line element is made up of nylon (rope)

double	m_Cd_t
	Normal drag coefficient.

Eigen::Vector3d	m_Ca
	Tangential drag coefficient.

Protected Attributes inherited from CoRiBoDynamics::Structures::LineStructure
double	m_Length

double	m_elemLength

double	m_elemDiameter
	element length [m]

std::vector< RigidElement * >	m_elements

RigidCoupling	m_base_coupling

Protected Attributes inherited from CoRiBoDynamics::JointConstraint
std::vector< HingeCoupling,Eigen::aligned_allocator< HingeCoupling > >	m_HingeCoupling

std::vector< BallJointCoupling,Eigen::aligned_allocator< BallJointCoupling > >	m_BallJointCoupling
	BallJoint Coupling.

std::vector< RigidCoupling,Eigen::aligned_allocator< RigidCoupling > >	m_RigidCoupling
	BallJoint Coupling.

std::vector< ExternalBallJointCoupling, Eigen::aligned_allocator< ExternalBallJointCoupling > >	m_ExternalBallJointCoupling
	Rigid Coupling.

std::vector< ExternalRigidCoupling, Eigen::aligned_allocator< ExternalRigidCoupling > >	m_ExternalRigidCoupling
	External Ball Joint Coupling.

Additional Inherited Members
Public Types inherited from CollisionCheckInterface
typedef std::vector< CoRiBoDynamics::CollisionManager::InternalObject, Eigen::aligned_allocator< CoRiBoDynamics::CollisionManager::InternalObject > >	GeometryVector

Protected Member Functions inherited from LineStructureGravityHydro
	LineStructureGravityHydro (CoRiBoDynamics::ConstraintSolver *solver)

virtual void	Init (CoRiBoDynamics::ConstraintSolver solver, ISimObjectCreator creator, LineSpec spec, std::string name)

Protected Member Functions inherited from CoRiBoDynamics::Structures::LineStructure
	LineStructure (ConstraintSolver *solver)

virtual void	Init (ConstraintSolver solver, ISimObjectCreator creator, LineSpec spec, std::string name)

Protected Member Functions inherited from CoRiBoDynamics::JointConstraint
void	ComputeHingeCoupling (HingeCoupling &Constraint)

void	ComputeBallJointCoupling (BallJointCoupling &Constraint)

void	ComputeRigidCoupling (RigidCoupling &Constraint)

void	ComputeExternalBallJointCoupling (ExternalBallJointCoupling &Constraint)

void	ComputeExternalVaryingBallJointCoupling (ExternalBallJointCoupling &Constraint, double vector_length_changerate)

void	ComputeExternalRigidCoupling (ExternalRigidCoupling &Constraint)

Protected Member Functions inherited from CoRiBoDynamics::ConstraintSet
const std::vector< RigidElement * > &	ElementVector ()

void	addConstraintResultantForce (int element, const vec6 &Force)

const vec3	Acceleration (int element)

const vec3	AngularAcceleration (int element)

const vec6	SecondDerivatives (int element)

void	addMatrix (int i, int j, const mat6 &M)

Static Protected Member Functions inherited from CoRiBoDynamics::JointConstraint
static mat4	QuaternionConstraint_Jacobian (const Quat &q)

static mat43	Quaternion_Kinematics (const Quat &q)

Member Function Documentation

◆ CheckForContact()

virtual CollisionCheckInterface::GeometryVector BuoyCable::CheckForContact ( CoRiBoDynamics::CollisionManager::ExternalObject & object )

virtual

Reimplemented from LineStructureGravityHydro.

◆ ComputeConstraints()

virtual void BuoyCable::ComputeConstraints	(	const double	T,
		const double *const	X
	)

virtual

Computes and returns the constraint system matrix for the current states (T and X). Adds constraint forces.

Reimplemented from LineStructureGravityHydro.

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

reloadrepos/fhsim_fishery/src/netcage/CoRiBoStructures/Cable/BuoyCable.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ CheckForContact()

◆ ComputeConstraints()