CoRiBoDynamics::Structures::SupergridLineStructure Class Reference

#include <SupergridLineStructure.h>

Inheritance diagram for CoRiBoDynamics::Structures::SupergridLineStructure:

Collaboration diagram for CoRiBoDynamics::Structures::SupergridLineStructure:

Public Member Functions
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 Attributes
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.

Friends
class	LineSegment

Additional Inherited Members
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)

Detailed Description

Author

Jorgen Haavind Jensen

Baseclass for linestructures with dynamic element lengths. Handles basic element creation and internal connections of a line structure. Subclasses implements functions to hande external connections and dynamical changes in elements.

Constructor & Destructor Documentation

SupergridLineStructure()

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

Sets up a computational resources for a fixed number of rigid elements to be allocated to a super-grid structure

Member Function Documentation

AddSegment()

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

ComputeConstraints()

virtual void CoRiBoDynamics::Structures::SupergridLineStructure::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 CoRiBoDynamics::Structures::PointRetractableCable, CoRiBoDynamics::Structures::SupergridWinchCable, and CollarChain.

GetDiscreteElements()

const std::vector< DiscreteElement * > * CoRiBoDynamics::Structures::SupergridLineStructure::GetDiscreteElements

(

)

Returns a vector of all DiscreteElements in the cable on the highest discretization level

GetLength()

double CoRiBoDynamics::Structures::SupergridLineStructure::GetLength

(

)

Total cable length

GetLineSegments()

const std::vector< LineSegment * > * CoRiBoDynamics::Structures::SupergridLineStructure::GetLineSegments

(

)

Returns a vector of all cable segments in the cable

GetRigidElements()

const std::vector< ModifiableRigidElement * > * CoRiBoDynamics::Structures::SupergridLineStructure::GetRigidElements

(

)

Returns a vector of all RigidElements in the cable

GetRigidElementTension()

const std::vector< double > * CoRiBoDynamics::Structures::SupergridLineStructure::GetRigidElementTension

(

)

Structural tension in the cable. Relates to the RigidElements vector

XmlInfo()

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

virtual

Reimplemented in CoRiBoDynamics::Structures::PointRetractableCable.

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

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