#include <SupergridCable.h>

Inheritance diagram for CoRiBoDynamics::Structures::PointRetractableCable:

Collaboration diagram for CoRiBoDynamics::Structures::PointRetractableCable:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PointRetractableCable (ConstraintSolver solver, ISimObjectCreator creator, Environment_Interface *environment, int rigid_element_buffer_size, double beta, std::string name)

virtual void	SetRetractedLength (double retracted_length, double retraction_speed)

double	GetRetractedLength ()

double	GetRetractionSpeed ()

vec3	GetCableUpperEndPosition ()

vec3	GetCableLowerEndPosition ()

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

virtual void	InitialConditionSetup (const double T, double *const updatedIC, const vec3 &PA, const vec3 &PB, double initial_retracted_length)

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

void	SetEndpointPositionA (const vec3 &position, const vec3 &velocity, double connection_strength=1.0)
	Computes structural connections.

void	SetEndpointPositionB (const vec3 &position, const vec3 &velocity, double connection_strength=1.0)

void	SetEndpointElementConnectionA (RigidElement *connection_element, double element_connection_strength=1.0)

void	SetEndpointElementConnectionB (RigidElement *connection_element, double element_connection_strength=1.0)

void	SetEndpointElementConnectionA (RigidElement *connection_element, const vec3 &ConnectionVector, double element_connection_strength=1.0)

void	SetEndpointElementConnectionB (RigidElement *connection_element, const vec3 &ConnectionVector, double element_connection_strength=1.0)

vec3	GetEndpointReactionForceA ()

vec3	GetEndpointA ()

vec3	GetEndpointReactionForceB ()

vec3	GetEndpointB ()

vec3	GetElementConnectionForceA ()

vec3	GetElementConnectionForceB ()

DiscreteElement *	GetDiscreteElementA ()

DiscreteElement *	GetDiscreteElementB ()
	returns the first active discrete element

virtual void	XmlInfo (TiXmlElement &xml_node)
	returns the last active discrete element More...

virtual void	AddSegment (LineSegment *l)

Public Member Functions inherited from CoRiBoDynamics::Structures::SupergridLineStructure
virtual void	AddSegment (LineSegment *l)

const std::vector< DiscreteElement * > *	GetDiscreteElements ()

const std::vector< ModifiableRigidElement * > *	GetRigidElements ()

const std::vector< double > *	GetRigidElementTension ()

const std::vector< LineSegment * > *	GetLineSegments ()

double	GetLength ()

	SupergridLineStructure (ConstraintSolver solver, ISimObjectCreator creator, Environment_Interface *environment, int rigid_element_buffer_size, double beta, std::string name)

virtual void	XmlInfo (TiXmlElement &xml_node)

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

double	GetBeta ()
	Computes structural connections.

Environment_Interface *	GetEnvironment ()

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
void	NumRetractedElements (size_t &super_element_ix, size_t &sub_element_ix)

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_retracted_length

double	m_retraction_speed
	current set retracted length [m]

double	m_max_retraction_length
	current set retraction speed [m/s]

size_t	m_num_retracted_super

size_t	m_num_retracted_sub
	current number of retracted super-elements

size_t	m_sub_super_threshold_ix
	current number of retracted sub-elements of the first free super-element

size_t	m_num_free_rigid_elements
	current index of the last super-element with currently active sub-elements

size_t	m_minimum_sub_super_treshold
	current number of inactive rigid elements in the "free tail"

double	m_sub_super_threshold_strength
	minimum possible value of the sub-super threshold. no need to apply straightening forces at or below this point

double	m_residual_length
	Gamma0 value of the sub-super straightening force.

double	m_retracted_element_length
	actual retracted length - discrete retracted length

RigidElement *	m_connection_elementA
	discrete retracted length

RigidElement *	m_connection_elementB

double	m_element_connection_strengthA

double	m_element_connection_strengthB

vec3	m_connection_vector_elementA

vec3	m_connection_vector_elementB

double	m_endpoint_connectionA_strength

double	m_endpoint_positionA [3]

double	m_endpoint_velocityA [3]

ExternalBallJointCoupling	m_endpoint_connectionA

double	m_endpoint_connectionB_strength

double	m_endpoint_positionB [3]

double	m_endpoint_velocityB [3]

ExternalBallJointCoupling	m_endpoint_connectionB

RigidCoupling	m_element_connectionA

RigidCoupling	m_element_connectionB

Protected Attributes inherited from CoRiBoDynamics::Structures::SupergridLineStructure
double	m_length

double	m_beta

Environment_Interface *	m_environment

std::vector< ModifiableRigidElement * >	m_rigid_element_buffer

std::vector< LineSegment * >	m_segment

std::vector< DiscreteElement * >	m_super_element

std::vector< double >	m_rigid_element_tension

std::string	m_name

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)

Detailed Description

Author: Jorgen Haavind Jensen

Implements a SuperGridLineStructure with winch functionality.

Winched elements disappear into the upper endpoint. Elements close to the winch are subdivided if the rigid_element_buffer_size allows for it

Member Function Documentation

◆ AddSegment()

virtual void CoRiBoDynamics::Structures::PointRetractableCable::AddSegment ( LineSegment * l )

virtual

Adds a segment with defined super- and sub-element discretization to the structure. Takes over ownership of the LineSegment pointer and deletes it on destruction.

Reimplemented from CoRiBoDynamics::Structures::SupergridLineStructure.

◆ AllocateElementBuffer()

virtual void CoRiBoDynamics::Structures::PointRetractableCable::AllocateElementBuffer	(	const double	T,
		double *const	X
	)

virtual

Reallocates RigidElements to DiscreteElements. Since this method needs to change and move the internal states of objects, it needs access to an non-const state vector X

◆ ComputeConstraints()

virtual void CoRiBoDynamics::Structures::PointRetractableCable::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::Structures::SupergridLineStructure.

Reimplemented in CollarChain.

◆ XmlInfo()

virtual void CoRiBoDynamics::Structures::PointRetractableCable::XmlInfo ( TiXmlElement & xml_node )

virtual

Reimplemented from CoRiBoDynamics::Structures::SupergridLineStructure.

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

reloadrepos/fhsim_coribo/src/Structures/SupergridCable.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AddSegment()

◆ AllocateElementBuffer()

◆ ComputeConstraints()

◆ XmlInfo()