#include <SupergridWinchCable.h>

Inheritance diagram for CoRiBoDynamics::Structures::SupergridWinchCable:

Collaboration diagram for CoRiBoDynamics::Structures::SupergridWinchCable:

Public Member Functions
	SupergridWinchCable (ConstraintSolver solver, ISimObjectCreator creator, Environment_Interface environment, int rigid_element_buffer_size, double beta, std::string name, Winch winch)

Winch *	GetWinch ()

TowingBlock *	GetTowingBlock ()

void	GetFirstFreeDiscreteElementIndex (int &super_ix, int &sub_ix)

double	GetPaidOutLength ()

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

virtual bool	InitialConditionSetup (const double T, double *const updatedIC, const vec3 &PB, Winch::InitialStatesLoader winch_init_states)

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

SupergridWinchCableCollisionManager *	GetCollisionManager ()
	Computes structural connections.

void	SetTowingBlock (TowingBlock *towing_block)

virtual const std::vector< CollisionManager::ExternalObject * >	GetTowingBlockGeometry ()

virtual void	XmlInfo (TiXmlElement &xml_node)

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	InitializeElementAllocation ()

void	InitializeFreespanCurve (Utilities::CurveSegment curve_initializer, double T, double const updatedIC)
	initial coupling of rigid elements and discrete elements

void	ComputeDiscreteCableLength (size_t &super_ix, size_t &sub_ix, double &length)

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
size_t	m_num_retracted_super

size_t	m_num_retracted_sub

size_t	m_sub_super_threshold_ix

double	m_sub_super_threshold_strength

size_t	m_num_free_rigid_elements

Winch *	m_winch
	current number of inactive rigid elements in the "free tail"

TowingBlock *	m_towing_block

SupergridWinchCableCollisionManager *	m_collision_manager

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

Extends a SupergridLineStructure with a collidable winch geometry and towing block.

Member Function Documentation

◆ AllocateElementBuffer()

virtual void CoRiBoDynamics::Structures::SupergridWinchCable::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::SupergridWinchCable::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.

◆ GetFirstFreeDiscreteElementIndex()

void CoRiBoDynamics::Structures::SupergridWinchCable::GetFirstFreeDiscreteElementIndex	(	int &	super_ix,
		int &	sub_ix
	)

Returns the index of the first free discrete element i.e. the first DiscreteElement that is not fully retracted on to the winch. {super_ix} refers to the vector from SupergridLineStructure::GetDiscreteElements(). {sub_ix} refers to the first free sub element

◆ GetPaidOutLength()

double CoRiBoDynamics::Structures::SupergridWinchCable::GetPaidOutLength ( )

Total length of cable minus length of all elements that are retracted onto the winch

◆ XmlInfo()

virtual void CoRiBoDynamics::Structures::SupergridWinchCable::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/SupergridWinchCable.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ AllocateElementBuffer()

◆ ComputeConstraints()

◆ GetFirstFreeDiscreteElementIndex()

◆ GetPaidOutLength()

◆ XmlInfo()