CoRiBoDynamics::Structures::RingStructure Class Reference

Inheritance diagram for CoRiBoDynamics::Structures::RingStructure:

Collaboration diagram for CoRiBoDynamics::Structures::RingStructure:

Classes
struct	RingSpec

Public Member Functions
	RingStructure (CoRiBoDynamics::ConstraintSolver *solver, ISimObjectCreator *creator, CoRiBoDynamics::Structures::RingStructure::RingSpec spec, std::string name)
virtual void	InitialConditionSetup (double *const UpdatedIC, vec3 CenterPosition)
RigidElement *	getElement (int i)
std::vector< RigidElement * >	getElements ()
RigidElement *	getFirstElement ()
RigidElement *	getLastElement ()
int	getNumElements ()
double	GammaN ()
double	GammaMx ()
double	GammaMy ()
double	GammaT ()
virtual void	ComputeConstraints (const double T, const double *const X)
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
	RingStructure (ConstraintSolver *solver)
virtual void	Init (ConstraintSolver *solver, ISimObjectCreator *creator, RingSpec 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
RingSpec	m_spec
double	m_elemLength
	Base properties of the ring.
std::vector< RigidElement * >	m_elements
	element length [m]
double	m_GammaN
	list of all elements
double	m_GammaMx
	axial regulator stiffness parameter
double	m_GammaMy
	bending regulator stiffness parameter
double	m_GammaT
	bending regulator stiffness parameter
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

RingStructure()

CoRiBoDynamics::Structures::RingStructure::RingStructure	(	CoRiBoDynamics::ConstraintSolver *	solver,
		ISimObjectCreator *	creator,
		CoRiBoDynamics::Structures::RingStructure::RingSpec	spec,
		std::string	name
	)

Creates the necessary states for the ring structure

Member Function Documentation

ComputeConstraints()

virtual void CoRiBoDynamics::Structures::RingStructure::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 RingStructureGravityHydro.

InitialConditionSetup()

virtual void CoRiBoDynamics::Structures::RingStructure::InitialConditionSetup ( double *const  UpdatedIC, vec3  CenterPosition  )

virtual

Initializes the elements in a horizontal ring with zero velocities

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

• reloadrepos/fhsim_coribo/src/Structures/RingStructure.h