CBall Class Reference

Inheritance diagram for CBall:

Collaboration diagram for CBall:

Public Member Functions
	CBall (std::string simObjectName, ISimObjectCreator *creator)
	Reads parameters, registers states, input/output ports and shared resources. More...
void	OdeFcn (const double T, const double *const X, double *const XDot, const bool IsMajorTimeStep)
	Cleans up dynamically allocated memory. More...
const double *	ForceOut (const double T, const double *const X)
	Returns the force acting from the balls on the box. More...

Protected Member Functions
void	CalcForces (const double T, const double *const X)
	Calculates contact forces between balls and box. More...
void	ForceInterBall (const double T, const double *const X)
	Calculates contact forces between the balls. More...
virtual const double *	Position (const double T, const double *const X)
	Returns the velocity of the balls. More...
virtual const double *	Velocity (const double T, const double *const X)
	Returns the position of the balls. More...

Protected Attributes
int	m_count
double	m_gravity
	Number of balls [#].
double *	m_mass
	The gravity (assumed along z-axis) [kgms^-2].
double *	m_radius
	The masses of the balls. [kg].
double *	m_stiffness
	The radii of the balls. [m].
double	m_boxDim [3]
	The linear stiffnesses of the ball. [N/m].
Eigen::Vector3d	m_norms [6]
	The dimensions of the box Lx, Ly, Lz [m].
int	m_planeSide [6]
	Array of box unit normal vectors [-].
Eigen::VectorXd	m_forces
	Side of the plane, relative normal vector (-1: inside, 1: outside, else: undef)
Eigen::VectorXd	m_interForces
	3-DOF force acting on each ball i (col(F_i)) from the box. [N]
ISignalPort *	m_inBoxPos
	3-DOF force acting between each ball i (col(F_i)). [N]
ISignalPort *	m_inBoxRot
	Centroid of the box [m].
int	m_iStatePos
	Orientation of the box, Euler angles, x,y,z [rad].
int	m_iStateVel
	The index of the position state.
double	m_outForce [3]
	The index of the velocity state.
double	m_time
	The force acting on the box. [N].

Constructor & Destructor Documentation

CBall()

CBall::CBall	(	std::string	simObjectName,
		ISimObjectCreator *	creator
	)

This constructor performs all initial setup for a ball SimObject. Reading in parameters, setting up communication interface i.e. output ports, input ports, and states, plus additional 'one time only' resource setup.

Parameters

[in]	simObjectName	-> The name of the simobject. Used primarily by superclass constructor
[in]	creator	-> Retrieve parameters. Register states, ports and shared resources

Member Function Documentation

CalcForces()

void CBall::CalcForces ( const double  T, const double *const  X  )

protected

Updates the forces acting between balls as well as the the forces acting on each plane of the box if the not calculated for this time step. This function calls ForceInterBall.

Parameters

[in]	T	-> time
[in]	X	-> states

ForceInterBall()

void CBall::ForceInterBall ( const double  T, const double *const  X  )

protected

Updates the forces acting between each ball.

Parameters

[in]	T	-> time
[in]	X	-> states

ForceOut()

const double * CBall::ForceOut	(	const double	T,
		const double *const	X
	)

Returns the net force from the balls on the box. 3-dof.

Parameters

[in]	T	-> time
[in]	X	-> states

Returns

-> 3-dof force array

OdeFcn()

void CBall::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

Returns state derivatives. Velocity as derivative of position, external-force/mass and gravity as derivative of velocity.

Parameters

[in]	T	-> current simulation time
[in]	X	-> current simulation state
[out]	XDot	-> state derivatives
[in]	IsMajorTimeStep	-> Is this a major time step?

Position()

virtual const double * CBall::Position ( const double  T, const double *const  X  )

protectedvirtual

Parameters

[in]	T	-> time
[in]	X	-> states

Returns

-> The velocities n*3

Velocity()

virtual const double * CBall::Velocity ( const double  T, const double *const  X  )

protectedvirtual

Parameters

[in]	T	-> time
[in]	X	-> states

Returns

-> The velocities n*3

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

• reloadrepos/fhsim_base/src/ballbox/CBall.h