Marine systems simulation
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CoRiBoDynamics::Structures::LineStructure Class Reference
+ Inheritance diagram for CoRiBoDynamics::Structures::LineStructure:
+ Collaboration diagram for CoRiBoDynamics::Structures::LineStructure:

Classes

struct  LineSpec
 

Public Member Functions

 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
 

Protected Member Functions

 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)
 

Protected Attributes

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

- Static Protected Member Functions inherited from CoRiBoDynamics::JointConstraint
static mat4 QuaternionConstraint_Jacobian (const Quat &q)
 
static mat43 Quaternion_Kinematics (const Quat &q)
 

Constructor & Destructor Documentation

◆ LineStructure()

CoRiBoDynamics::Structures::LineStructure::LineStructure ( ConstraintSolver *  solver,
ISimObjectCreator *  creator,
LineSpec  spec,
string  name 
)

Creates the necessary states for the ring structure

Member Function Documentation

◆ ComputeConstraints()

virtual void CoRiBoDynamics::Structures::LineStructure::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 CoRiBoDynamics::JointConstraint.

Reimplemented in BuoyCable, LineStructureGravityHydro, and NetTensionCable.

◆ InitialConditionSetup()

virtual void CoRiBoDynamics::Structures::LineStructure::InitialConditionSetup ( double *const  states,
const vec3 &  P1,
const vec3 &  P2 
)
virtual

Initializes the elements in a horizontal ring with zero velocities

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