Ship::LocalConnection Class Reference

Inheritance diagram for Ship::LocalConnection:

Collaboration diagram for Ship::LocalConnection:

Public Member Functions
	LocalConnection (const string simObjectName, ISimObjectCreator *const creator)
virtual void	OdeFcn (const double T, const double *const X, double *const XDot, const bool bIsMajorTimeStep)
virtual void	InitialConditionSetup (const double T, const double *const currentIC, double *const updatedIC, ISimObjectCreator *const creator)
const double *	OffsetBody (const double T, const double *const X)
const double *	RotationBody (const double T, const double *const X)
const double *	PositionNED (const double T, const double *const X)
const double *	VelocityNED (const double T, const double *const X)
const double *	VelocityBody (const double T, const double *const X)
const double *	OmegaNED (const double T, const double *const X)
const double *	QuaternionNED (const double T, const double *const X)
const double *	Axis1NED (const double T, const double *const X)
const double *	Axis2NED (const double T, const double *const X)
const double *	Axis3NED (const double T, const double *const X)
const double *	ForceNED (const double T, const double *const X)
const double *	TorqueNED (const double T, const double *const X)
const double *	ForceBody (const double T, const double *const X)
const double *	TorqueBody (const double T, const double *const X)
const double *	ParentQuaterion (const double T, const double *const X)

Protected Member Functions
const double *	Force (const double T, const double *const X)
const double *	Torque (const double T, const double *const X)
void	ComputePostition (const double T, const double *const X)
void	ComputeForce (const double T, const double *const X)

Protected Attributes
double	m_positionNED [3]
double	m_omegaNED [3]
double	m_velocityNED [3]
double	m_omegaBody [3]
double	m_velocityBody [3]
double	m_quaternionNED [4]
double	m_axis1NED [3]
double	m_axis2NED [3]
double	m_axis3NED [3]
double	m_ForceNED [3]
double	m_TorqueNED [3]
double	m_ForceBody [3]
double	m_TorqueBody [3]
bool	m_isAzimuth
double	m_azimuthLoss [2]
ISignalPort *	m_InParentPositionNED
ISignalPort *	m_InParentQuaternionNED
ISignalPort *	m_InParentVelocityNED
ISignalPort *	m_InParentOmegaNED
ISignalPort *	m_InForce
ISignalPort *	m_InMotorAngularTarget [3]
ISignalPort *	m_InMotorLinearTarget [3]
double	m_Offset [3]
bool	m_ForceCalculator
bool	m_ForceInBodyFrame
ISignalPort *	m_InOffset
ISignalPort *	m_InPositionCGNED
bool	m_isLinearMotor
bool	m_isAngularMotor
int	m_stateLinearMotor [3]
int	m_stateAngularMotor [3]
double	m_linearMotorMaxChangerate [3]
double	m_angularMotorMaxChangerate [3]
double	m_linearMotorConstants [3]
double	m_angularMotorConstants [3]
double	m_linearStaticOffset [3]
double	m_angularStaticOffset [3]
double	m_linearForceAttackOffset [3]
ICommonComputation *	m_computePosition
ICommonComputation *	m_computeForce

Member Function Documentation

Axis1NED()

const double * Ship::LocalConnection::Axis1NED	(	const double	T,
		const double *const	X
	)

The normal vector of the 1. axis in north-east-down coordinates

Axis2NED()

const double * Ship::LocalConnection::Axis2NED	(	const double	T,
		const double *const	X
	)

The normal vector of the 2. axis in north-east-down coordinates

Axis3NED()

const double * Ship::LocalConnection::Axis3NED	(	const double	T,
		const double *const	X
	)

The normal vector of the 3. axis in north-east-down coordinates

ForceBody()

const double * Ship::LocalConnection::ForceBody	(	const double	T,
		const double *const	X
	)

The force output in north-east-down coordinates

ForceNED()

const double * Ship::LocalConnection::ForceNED	(	const double	T,
		const double *const	X
	)

The force output in north-east-down coordinates

OffsetBody()

const double * Ship::LocalConnection::OffsetBody	(	const double	T,
		const double *const	X
	)

The offset of the connection point in local coordinates

OmegaNED()

const double * Ship::LocalConnection::OmegaNED	(	const double	T,
		const double *const	X
	)

The rotational velocity in north-east-down coordinates

ParentQuaterion()

const double * Ship::LocalConnection::ParentQuaterion	(	const double	T,
		const double *const	X
	)

The orientation of the parent object

PositionNED()

const double * Ship::LocalConnection::PositionNED	(	const double	T,
		const double *const	X
	)

The position in north-east-down coordinates

QuaternionNED()

const double * Ship::LocalConnection::QuaternionNED	(	const double	T,
		const double *const	X
	)

The rotation quaternion. The orientation quaternion is the rotation of the parent body rotated by any axis rotations of the 1,2,3 axes, in succession

RotationBody()

const double * Ship::LocalConnection::RotationBody	(	const double	T,
		const double *const	X
	)

The Rotation of the connection point in local coordinates

Torque()

const double * Ship::LocalConnection::Torque ( const double  T, const double *const  X  )

protected

The torque output around the parent body origin of the force input in north-east-down coordinates

TorqueBody()

const double * Ship::LocalConnection::TorqueBody	(	const double	T,
		const double *const	X
	)

The torque output around the parent body origin of the force input in body coordinates

TorqueNED()

const double * Ship::LocalConnection::TorqueNED	(	const double	T,
		const double *const	X
	)

The torque output around the parent body origin of the force input in body coordinates

VelocityBody()

const double * Ship::LocalConnection::VelocityBody	(	const double	T,
		const double *const	X
	)

The velocity in the parents local axis system

VelocityNED()

const double * Ship::LocalConnection::VelocityNED	(	const double	T,
		const double *const	X
	)

The Linear velocity in north-east-down coordinates

Member Data Documentation

m_ForceCalculator

bool Ship::LocalConnection::m_ForceCalculator

protected

Use the object to translate forces to force-torque pairs

m_ForceInBodyFrame

bool Ship::LocalConnection::m_ForceInBodyFrame

protected

Set the input force in the parents body frame

m_InForce

ISignalPort* Ship::LocalConnection::m_InForce

protected

Translate an input force to force-torque pair around the parent origin

m_InMotorAngularTarget

ISignalPort* Ship::LocalConnection::m_InMotorAngularTarget[3]

protected

Input of axis rotation angles if enabled

m_InMotorLinearTarget

ISignalPort* Ship::LocalConnection::m_InMotorLinearTarget[3]

protected

Input of axis rotation angles if enabled

m_InOffset

ISignalPort* Ship::LocalConnection::m_InOffset

protected

input port for runtime tunable offset from reference

m_InParentOmegaNED

ISignalPort* Ship::LocalConnection::m_InParentOmegaNED

protected

The rotational speed of the parent body in north-east-down

m_InParentPositionNED

ISignalPort* Ship::LocalConnection::m_InParentPositionNED

protected

The position of the parent body in north-east-down

m_InParentQuaternionNED

ISignalPort* Ship::LocalConnection::m_InParentQuaternionNED

protected

The orientation quaternion of the parent body in north-east-down

m_InParentVelocityNED

ISignalPort* Ship::LocalConnection::m_InParentVelocityNED

protected

The linear velocities of the parent body in north-east-down

m_InPositionCGNED

ISignalPort* Ship::LocalConnection::m_InPositionCGNED

protected

Input port for the position of the CG and reference point body, required to calculate correct torque and velocities

m_Offset

double Ship::LocalConnection::m_Offset[3]

protected

The offset in the parents axis system

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

• reloadrepos/fhsim_marine_elements/src/ship/LocalConnection.h