Inheritance diagram for Netcage::CFloatingCollar6DOF:

Collaboration diagram for Netcage::CFloatingCollar6DOF:

Public Member Functions
	CFloatingCollar6DOF (const string &simobjectname, ISimObjectCreator *const creator)
	The constructor sets the pointer to the output object and the parser object.

	~CFloatingCollar6DOF ()
	Destructor. Deletes all dynamic allocated memory.

virtual void	OdeFcn (const double T, const double const X, double const XDot, const bool IsMajorTimeStep)
	Ode Function. Calculates response for each time step.

Public Member Functions inherited from Netcage::CFloatingCollar
	CFloatingCollar (const string &simObjectName, ISimObjectCreator *const creator)
	Reads parameters, registers states, input/output ports and shared resources. More...

virtual void	FinalSetup (const double T, const double const X, ISimObjectCreator const pCreator)

void	OdeFcn (const double T, const double const X, double const XDot, const bool IsMajorTimeStep)
	Computes object derivatives as a function of time, states and input ports. More...

virtual const double *	NetConnectPos (const double T, const double *const X, int iNetConnect)
	Output port. Returns position of indexed net connection point. More...

virtual const double *	NetConnectVel (const double T, const double *const X, int iNetConnect)
	Output port. Returns velocity of indexed net connection point. More...

virtual const double *	BRConnectPos (const double T, const double *const X, int iBRConn)
	Output port. Returns position of indexed bottom ring connection point. More...

virtual const double *	BRConnectVel (const double T, const double *const X, int iBRConn)
	Output port. Returns velocity of indexed bottom ring connection point. More...

virtual const double *	FastConnectPos (const double T, const double *const X, int iFastConn)
	Output port. Returns position of indexed bridle connection point. More...

virtual const double *	FastConnectVel (const double T, const double *const X, int iFastConn)
	Output port. Returns velocity of indexed bridle connection point. More...

virtual const double *	SkirtConnectPos (const double T, const double *const X, int iSkirtConn)
	Output port. Returns position of indexed skirt connection point. More...

virtual const double *	SkirtConnectVel (const double T, const double *const X, int iSkirtConn)
	Output port. Returns velocity of indexed skirt connection point. More...

virtual const double *	AddConnectPos (const double T, const double *const X, int iAddConn)
	Output port. Returns position of indexed additional connection point. More...

virtual const double *	AddConnectVel (const double T, const double *const X, int iAddConn)
	Output port. Returns velocity of indexed additional connection point. More...

virtual const double *	getVelLocalAHRS (const double T, const double *const X, int iPos)
	Output ports. For project: RACE - Anleggsintegritet.

virtual const double *	getPosLocalOriginAHRS (const double T, const double *const X, int iPos)
	Velocity of point on floater in floater local coordinate system (beta,v,z) given by index iPos.

virtual const double *	getVelGlobalAHRS (const double T, const double *const X, int iPos)
	Position of point on floater related to floater origin in floater local coordinate system (beta,v,z) given by index iPos.

virtual const double *	getPosGlobalAHRS (const double T, const double *const X, int iPos)
	Velocity of point on floater in global coordinate system (x,y,z) given by index iPos.

virtual const double *	NetConnectTotalForce (const double T, const double *const X)
	Position of point on floater in global coordinate system (x,y,z) given by index iPos. More...

virtual const double *	FastConnectTotalForce (const double T, const double *const X)
	Output port. Returns total force transferred to collar from bridle connection points. More...

virtual const double *	BRConnectTotalForce (const double T, const double *const X)
	Output port. Returns total force transferred to collar from bottom ring connection points. More...

virtual const double *	SkirtConnectTotalForce (const double T, const double *const X)
	Output port. Returns total force transferred to collar from skirt connection points. More...

virtual const double *	AddConnectTotalForce (const double T, const double *const X)
	Output port. Returns total force transferred to collar from additional connection points. More...

virtual const double *	RBMxModalForcesFcn (const double T, const double *const X)
	Output port. Returns total force for rigid body motion in x direction. More...

virtual const double *	SurfElevCenter (const double T, const double *const X)
	Output port. Returns surface elevation at the dynamic collar centre position. More...

virtual const double *	SurfElev (const double T, const double *const X)
	Output port. Returns surface elevation at position specified by input parameter. More...

virtual const double *	PartVel (const double T, const double *const X)
	Output port. Returns particle velocity at the x,y origin (0,0) More...

virtual const double *	RingElevCenter (const double T, const double *const X)
	Output port. Returns floating collar elevation at the angular position pi/2. More...

virtual const double *	RingElev (const double T, const double *const X)
	Output port. Returns floating collar elevation at the angular position given by the parameter RingElev_pos. More...

virtual const double *	SigmarrFcn (const double T, const double *const X)
	Output port. Returns bending stress around the local y-axis at position given by the parameter BendingStress_pos. More...

virtual const double *	RelDispZ (const double T, const double *const X)
	Output port. Returns relative vertical displacement between floating collar and surface at position given by the parameter RelDispZ_pos. More...

virtual const double *	WaveInfo (const double T, const double *const X)
	Output port. Returns dynamic pressure at the x,y,z origin (0,0,0) More...

virtual const double *	FloaterCenterPos (const double T, const double *const X)
	Output port. Returns the centre position of the floating collar See PortDefs.h. More...

Protected Member Functions
void	ModalDiffractionForce (const double T, const double *const X, const int nMode, const int nElem)
	Functions.

void	ModalFKForce (const double T, const double *const X, const int nMode, const int nElem)

Protected Member Functions inherited from Netcage::CFloatingCollar
void	NetConnectModalForces (const double T, const double *const X, int nMode)
	Modal force from additional connections.

void	BRConnectModalForces (const double T, const double *const X, int nMode)

void	FastConnectModalForces (const double T, const double *const X, int nMode)

void	SkirtConnectModalForces (const double T, const double *const X, int nMode)

void	AddConnectModalForces (const double T, const double *const X, int nMode)

void	TensionForcesPiecewiseConstant (const double T, const double *const X)

void	CosineSineFcn (int m, int n, double beta0, double beta1, int segments, double *fcnValue)

void	SectionPositions (const double *const X)

double	ModalBouyancyForce (int iMode)

double	RadialPositionOrigin (const double *const X, double beta)
	Array with position in global coordinate system (x,y,z) (For comparison with AHRS data)

double	RadialVelocity (const double *const X, double beta)
	Calculates radial displacement (positive inwards/toward center of floater).

void	CalContactForce (const double T, const double *const X)
	Modal forces from contact.

void	CalContactModalForce (const double T, const double *const X, int nMode)
	Calculate contact forces.

virtual const double *	OutContactPosition (const double T, const double *const X)
	Calculate modal forces from contact.

virtual const double *	OutContactForce (const double T, const double *const X)
	Output contact position.

double	SectionPos (const double *const X, const double beta, const int iDOF, const double offset)
	Center position of ring (only x-pos; y and z equals zero)

void	BesselFunc (double k, double R, int n, int i, int N)

void	KnFunc (int n, int N)
	Value of Bessel functions of the first kind dependent on floater raduis, motion mode and wave number.

void	AddMass33Fcn (double p, double c, double R, double Kn, int n)
	Integral value needed for calculation of each modal added mass.

void	AddMass22Fcn (double p, double c)
	2D modal added mass of the floater section in heave. Dependent on motion mode number and geometry.

double	TrapezeInt (double fx, double x, const int nElem, const int loop, const double xLoop)
	2D added mass of the floater section in surge. Independent of mode shape. Strip theory applied.

void	FloaterSectPos (const double const X, double beta, double radOffset, double pos)
	Trapeze integration method.

void	FloaterSectVel (const double const X, double beta, double vel)
	Return floater position (x,y,z) at position beta.

double	StruveFunc (int n, double z)
	Return floater velocity (Ux,Uy,Uz) at position beta. More...

double	KnFunc2 (int modenumber)
	The Struve function H_n(z)

std::complex< double >	CnFunc (int modenumber, double wavenumber)
	Frequency dependent radiation coefficients in heave.

void	RadiationForcesHeave (int modenumber, double wavenumber, int waveindex)
	Integral function needed for calculation of hydrodyn. radiation forces.

Protected Attributes
double	m_F_Diffr [4]
	Variables.

double	m_F_FK [4]
	Diffraction force in z-direction. Modal ~ cos(nbeta) and ~sin(nbeta).

int	m_NCalcElem
	Froude-Kriloff forze in z-direction. Modal ~ cos(nbeta) and ~sin(nbeta).

Protected Attributes inherited from Netcage::CFloatingCollar
int	m_PositionIndex

int	m_VelocityIndex
	The index of the position state in the state array.

int	m_numElements
	The index of the velocity state in the state array.

CEnvironment *	m_Environment
	Number of elements in visualization.

vector< double >	m_omg
	Pointer to DeepSeaGravityWaves -> CEnvironment.

vector< double >	m_zeta
	Wave frequency vector.

vector< double >	m_waveDir
	Wave amplitude vector.

vector< double >	m_phaseAngle
	Wave direction vector.

vector< double >	m_waveNumber
	Wave phase angle vector.

double	m_waveInfo [3]
	Vector containing wave numbers of all wave components. More...

double *	m_NetConnectPos
	Water particle etc acceleration in (x,y,z)=(0,0,0)

double *	m_NetConnectVel
	Position (x,y,z) of net connections to floater.

double *	m_BRConnectPos
	Velocity (u,v,w) of net connections between floater and net.

double *	m_BRConnectVel
	Position (x,y,z) of bottom ring cables connected to floater.

double *	m_FastConnectPos
	Velocity (Ux,Uy,Uz) of floater section where bottom ring cables/chains/ropes are connected.

double *	m_FastConnectVel
	Position (x,y,z) of anchor lines connections to floater.

double *	m_SkirtConnectPos
	Velocity (Ux,Uy,Uz) of floater section where anchor lines are connected.

double *	m_SkirtConnectVel
	Position (x,y,z) of permanent skirt connections to floater.

double *	m_AddConnectPos
	Velocity (Ux,Uy,Uz) of floater section where skirt are connected.

double *	m_AddConnectVel
	Position (x,y,z) of additional connections to floater.

double	m_totalNetForce [3]
	Velocity (Ux,Uy,Uz) of floater section where additional connectors are connected.

double	m_totalFastForce [3]
	Total force (x,y,z) subjected on floater from the net.

double	m_totalBRForce [3]
	Total force (x,y,z) subjected on floater from fastening (bridle) connections.

double	m_totalSkirtForce [3]
	Total force (x,y,z) subjected on floater from bottom ring connections.

double	m_totalAddForce [3]
	Total force (x,y,z) subjected in floater from permanent skirt.

double	m_RBMxModalForces [4]
	Total force (x,y,z) subjected in floater from additional connectors.

ISignalPort **	m_NetConnectExtForce
	Rigid body motion modal forces in x-direction. Bridle, Net, Bottom ring, Skirt.

ISignalPort **	m_BRConnectExtForce
	Signal port. Force from net connections on floater.

ISignalPort **	m_FastConnectExtForce
	Signal port. Force from bottom ring connections.

ISignalPort **	m_SkirtConnectExtForce
	Signal port. Force on floater from anchor lines.

ISignalPort **	m_AddConnectExtForce
	Signal port. Force on floater from permanent skirt.

double	m_NetConnectModalForce [5]
	Signal port. Force on floater from additional connectors.

double	m_BRConnectModalForce [5]
	Modal force from net connections.

double	m_FastConnectModalForce [5]
	Modal force from bottom ring.

double	m_SkirtConnectModalForce [5]
	Modal force from anchor-lines.

double	m_AddConnectModalForce [5]
	Modal force from permanent skirt.

double	m_surfElevCenter

double	m_surfElev
	Wave elevation in dynamic center of the floater.

double	m_partVel [3]
	Surface elevation in x=y=0. For verification purposes.

double	m_ringElevCenter
	Particle velocity in x=y=0 for verification purposes.

double	m_ringElev
	Elevation of ring in center (beta = pi/2). Used to validate m_surfElevCenter.

double	m_ringElevBeta
	Ring elevation/vertical displacement at chosen position beta.

double	m_sigmarr
	Position at which elevation/vertical displacement of floater is calculaleted.

double	m_sigmarrBeta
	Bending stress around the local y-axis (r-axis) at a specified position.

double	m_relDispZ
	Position at which bending stress is calculated.

double	m_relDispZBeta
	Relative vertical displacement between floater section center and surface at position beta.

double	m_floaterCenterPos [3]
	Position at which relative motion is evaluated.

int	m_nT
	Center position of floater.

double *	m_T

double *	m_TTheta

double ***	m_TCosCosInt

double ***	m_TSinSinInt

double ***	m_TCosSinInt

double ***	m_TSinCosInt

int	m_nPortsAHRS
	RACE.

double *	m_betaAHRS

double *	m_velLocalAHRS
	Position of observation ports in local coordinates (beta) (For comparison with AHRS data)

double *	m_posLocalOriginAHRS
	Array with velocity in local coordinate system (beta*R,v,z) (For comparison with AHRS data)

double *	m_velGlobalAHRS
	Array with position in local coordinate system (beta*R,v,z) (For comparison with AHRS data)

double *	m_posGlobalAHRS
	Array with velocity in global coordinate system (x,y,z) (For comparison with AHRS data)

int	m_NumConPoint
	Contact. More...

Contact::ContactObject	m_Vessel
	Number of discretized points for contact detection.

double	m_UpdateDT
	External object involved in contact.

double	m_UpdateNT

double	m_ContactBeta

double	m_ContactPos [3]
	Position at contact (angle)

double	m_ContactForce [6]
	Position at contact.

double	m_ContactModalForce [5]
	Contact forces.

double	m_mass2D
	Contact. More...

double	m_p
	2D (mass per meter) of the floater

double	m_dNetPos
	Half distance between center of the pipes.

double	m_nPipes
	Radial offsett of net position. 0 equals center of inner pipe. Positive inwards.

double	m_c
	Equals 1 for one-pipe floater. Equals 2 for two-pipe floater. Default value 2.

double	m_bw
	Floater pipe radius.

double	m_R
	2D water plane area [m]

double	m_E
	Floater radius. From center of coordinate system to center between the two pipes.

double	m_Ir
	Modulus of elasticity of floater material.

double	m_Iz
	2nd area moment of the floater section for bending around the horizontal r-axis

double	m_Im_z
	2nd area moment of the floater section for bending around the z-axis

double	m_tWall
	Moment of inertia around the z-axis.

double	m_DampFact
	Pipe wall thickness.

int	m_NModes
	Damping. Level of critical damping for each mode.

double	m_Ux
	Number of modes in the modal analysis.

double	m_Uy
	Current velocity in x-direction.

double	m_Udir
	Current velocity in y-direction.

double	m_U
	Current direction in global coordinates.

double	m_CD
	Current velocity (absolute value)

double	m_CDt
	Drag coefficient pipe.

double	m_F_Ux
	Tangential drag coefficient pipe.

double	m_g
	Modal water current force in x-direction.

double	m_RhoWater
	Acceleration of gravity.

double	m_initPos [3]
	Sea water density.

double	kRadSpring
	Initial position of floater in (x,y,eta6). x-ccord., y-coord. and rotaion (yaw) angle.

double	RadSpringOn
	Radial spring stiffness. Dummy point load to simulate mooring lines.

double	WaveCouplingOn
	Radial spring on or off. 1=on, 0=off.

double	PosRadSpring [4]
	Coupling between horizontal and vertical displacement in terms of taking horizontal rigid body motion into account when calculating vertical and horizontal wave forces. 1=on, 0=off.

double	ModalSpringForce
	Position of radial springs.

double	DeltaL_RadSpring [4]
	Modal spring force.

double *	m_b22
	Displacement at attachment point for radial springs.

double *	m_b22_visc
	Structural damping in sway.

double *	m_c22
	Linearized viscous damping (Morison drag) in sway.

double **	m_b33
	Structural stiffness in sway.

double *	m_b33_visc
	Damping in heave (structural)

double	m_b66_visc
	Linearized viscous damping (Morison drag) in heave.

double *	m_c33
	Viscous damping for yaw motin (rotation around z-axis)

double *	m_Kn
	Stiffness, hydrostatic and structural.

double **	m_a33

double	m_a22_lim
	2D modal added mass for the floater in heave (z-direction)

double	m_a22_Inf
	2D added mass for the floater in surge (x-direction)

double	m_a22_Unity
	2D added mass for the floater in surge (x-direction)

bool	m_viscOn_b22
	2D added mass for the floater in surge (x-direction)

bool	m_viscOn_b33
	Boolean. True means viscous damping is activated.

bool	m_nLinOn_b22
	Boolean. True means viscous damping is activated.

bool	m_nLinOn_b33
	Boolean. True means non-linear damping is activated.

double	m_viscAmp_b22
	Boolean. True means non-linear damping is activated.

double	m_viscAmp_b33
	Viscous damping multiplying/amplifying factor.

double	m_b22_nLinOn
	Viscous damping multiplying/amplifying factor.

double	m_b33_nLinOn
	Value set to 1 or 0. 1 Imply that non-linear damping is activated.

double	m_Iz_parAxFact
	Value set to 1 or 0. 1 Imply that non-linear damping is activated.

double	m_EIr
	Factor for strength of parallel axis theorem (2nd area moment/bending stiffness). Valid values range from 0 to 1. 0 meaning that the pipes are freely floating inside the clamps. 1 means the pipes are welded tight to the clamps.

double	m_EIz
	Bending stiffness of floater section for bending around the horizontal r-axis.

double	m_Axy
	Bending stiffness of floater section for bending around the z-axis.

double	m_ForceFactor
	Area of submerged pipe (section) per meter.

double	m_MassFactor

double	EXP_OMG_T_33_COS

double	EXP_OMG_T_33_SIN
	Time dependency of excitation forces in heave for mode cos(nbeta). Proportinal to sin(OmgT).

double	EXP_OMG_T_22_COS
	Time dependency of excitation forces in heave for mode sin(nbeta). Proportinal to sin(OmgT).

double	EXP_OMG_T_22_SIN
	Time dependency of excitation forces for horizontal deformation for mode cos(nbeta). Proportinal to sin(OmgT).

int	nWaveFreq
	Time dependency of excitation forces for horizontal deformation for mode sin(nbeta). Proportinal to sin(OmgT).

double **	m_Bessel

int	m_nNetConnect

int	m_nBRConnect
	number of net connections

int	m_nFastConnect
	Number of bottom ring connections.

int	m_nSkirtConnect
	Number of anchoring connections on the floater.

int	m_nAddConnect
	Number of skirt (permanent) connections.

double *	m_netConnectBeta
	Number of additional connectors/fastening points on floating collar.

double *	m_BRConnectBeta
	Position of net connections. Array containing angles in local coordinate system.

double *	m_FastConnectBeta
	Position of bottom ring connections. Array containing angles in local coordinate system.

double *	m_SkirtConnectBeta
	Position of anchoring connections. Array containing angles in local coordinate system. Initial values.

double *	m_AddConnectBeta
	Position of skirt connections. Array containing angles in local coordinate system.

double	m_mModal
	Position of additional connections. Array containing angles in local coordinate system.

double **	m_sectPos
	2D modal floater ring mass.

double	m_NetForcesOn

double	m_NetForcesStart

double	m_modMassOn

double	m_yawCorrOn

double	m_CurrSurfVel [3]

double	m_posRingCent [3]
	Current velocity in center of ring.

double *	m_a33f
	Sum of infinite series.

double	m_b33f

Additional Inherited Members
Protected Types inherited from Netcage::CFloatingCollar
typedef Eigen::Matrix< double, 2, 2 >	mat2

typedef Eigen::Matrix< double, 2, 1 >	cvec2

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

reloadrepos/fhsim_fishery/src/netcage/CFloatingCollar6DOF.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members