Marine systems simulation
Public Member Functions | Protected Attributes | List of all members
FrameCable Class Reference
+ Inheritance diagram for FrameCable:
+ Collaboration diagram for FrameCable:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW FrameCable (CoRiBoDynamics::ConstraintSolver *solver, ISimObjectCreator *creator, double beta, string name, int num_plates)
 
void ComputeConstraints (const double T, const double *const X)
 
void InitialConditionSetup (double *const states, std::vector< CoRiBoDynamics::RigidElement * > &plates, const Eigen::Quaterniond &plate_null_angle)
 
void SetAnchorAPos (const Eigen::Vector3d &P)
 
void SetAnchorBPos (const Eigen::Vector3d &P)
 
std::vector< CoRiBoDynamics::RigidElement * > GetPlateConnections ()
 
void setEnvironment (CEnvironment *e)
 
void SetPlateRadius (double R)
 
virtual CollisionCheckInterface::GeometryVector CheckForContact (CoRiBoDynamics::CollisionManager::ExternalObject &object)
 
- 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
 
virtual GeometryVector CheckForContact (CoRiBoDynamics::CollisionManager::ExternalObject &object)=0
 

Protected Attributes

std::vector< CoRiBoDynamics::RigidElement * > m_elements
 
CEnvironment * m_environment
 
int m_num_frame_elements
 
double m_frameLineLength
 
int m_num_anchor_elements
 
double m_anchorLineLength
 
double m_frameDiameter
 
double m_anchorDiameter
 
double m_anchorDensity
 
double m_frameDensity
 
int m_num_plate_elements
 
double m_plate_radius
 
CoRiBoDynamics::JointConstraint::RigidCoupling m_anchor_coupling
 
CoRiBoDynamics::JointConstraint::RigidCoupling m_frame_coupling
 
Eigen::Vector3d m_anchorA_P
 
Eigen::Vector3d m_anchorB_P
 
double m_Cd_n
 
double m_Cd_t
 Normal drag coefficient.
 
Eigen::Vector3d m_Ca
 Tangential drag coefficient.
 
- 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

- Public Types inherited from CollisionCheckInterface
typedef std::vector< CoRiBoDynamics::CollisionManager::InternalObject, Eigen::aligned_allocator< CoRiBoDynamics::CollisionManager::InternalObject > > GeometryVector
 
- 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)
 

Member Function Documentation

◆ CheckForContact()

virtual CollisionCheckInterface::GeometryVector FrameCable::CheckForContact ( CoRiBoDynamics::CollisionManager::ExternalObject &  object)
virtual

Implements CollisionCheckInterface.

◆ ComputeConstraints()

void FrameCable::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.

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