Inheritance diagram for System::SimpleFloatingCollar:

Collaboration diagram for System::SimpleFloatingCollar:

Classes
struct	forceCoefficients
	NEW. More...

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

	~SimpleFloatingCollar ()
	The destructor cleans up.

void	OdeFcn (const double T, const double const X, double const XDot, const bool IsMajorTimeStep)

void	InitialConditionSetup (const double T, const double const CurrentIC, double const UpdatedIC, ISimObjectCreator *const Creator)
	Initializes the collar elements in a ring.

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

const double *	GetElementPosition (const double T, const double *const X, int iElem)
	Get Functions.

const double *	GetElementVelocity (const double T, const double *const X, int iElem)
	NEW.

const double *	NetPosition (const double T, const double *const X, int i)
	NEW. More...

const double *	NetVelocity (const double T, const double *const X, int i)

const double *	BridlePosition (const double T, const double *const X, int i)

const double *	BridleVelocity (const double T, const double *const X, int i)

const double *	ChainPosition (const double T, const double *const X, int i)

const double *	ChainVelocity (const double T, const double *const X, int i)

Eigen::Matrix< double, 3, 1 >	extElementPosition (const double T, const double *const X, int iElem, double extL)

Public Attributes
struct System::SimpleFloatingCollar::forceCoefficients	m_forceCoeffs

Protected Member Functions
void	GetAccelerometerPositions (const double T, const double X, ISignalPort posIn, double pos, int numPos)
	Array containg element indices for position of accelorometers.

double	getSplineZPos (double beta)
	Function who gets accelorometer displacaments.

void	calcSplineCoefficients (double *vertDispl)
	Spline function to estimate vertical position of ring elements.

void	CalContactForce (const double T, const double *const X)
	Contact forces.

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

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

void	CalClosestDistnace (const double T, const double *const X)
	Distance to closest point.

virtual const double *	OutClosestPosition (const double T, const double *const X)
	Calculate closest distance.

virtual const double *	OutClosestDistnace (const double T, const double *const X)
	Output closest position.

void	GetExternalForces (const double T, const double X, ISignalPort forcesIn, double forces, int numForces)
	Get function.

Protected Attributes
int	m_Num

double	m_Beta
	number of discrete elements in the collar

double	m_elemRad
	main frequency coefficient

int	m_numAccMeas
	Accelerometer data.

ISignalPort **	m_AccDispIn
	Number of acceloremters feeding data.

double *	m_AccDisp
	Signal port given displacements derived from accelorometer data.

double *	m_AccElemRad
	Array containing displacements received through the signal port.

int *	m_AccElemIndex
	Array containing positions of displacements.

double *	m_AccElemRadPer
	Function for obtaining position on ring as a function of local angle beta and current calculated spline.

double	m_TLast
	Array with positions of measurements in radians. Last element equals last + 2*pi. size m_nMeasPos + 1.

double	m_dTInt

double	m_dTUpdt

double	m_velZ_max

double	m_W_lastRef

double *	m_spline_a
	Function calculates Matrix A and B with periodic buondary condition.

double *	m_spline_b
	Array containing coefficients for calculation of cubic spline for vertical displacement.

double *	m_spline_c
	Array containing coefficients for calculation of cubic spline for vertical displacement.

double *	m_spline_d
	Array containing coefficients for calculation of cubic spline for vertical displacement.

double **	m_spline_A
	Array containing coefficients for calculation of cubic spline for vertical displacement.

double *	m_spline_B
	Arrays containing parameters for cubic spline for vertical displacement.

double *	m_spline_h
	Arrays containing parameters for cubic spline for vertical displacement.

double *	m_spline_m
	Arrays containing parameters for cubic spline for vertical displacement.

Eigen::MatrixXd	m_spl_A
	Arrays containing parameters for cubic spline for vertical displacement.

Eigen::MatrixXd	m_spl_B

Eigen::MatrixXd	m_spl_m

int	m_NumConPoint
	Spline function variables end. More...

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

double	m_UpdateDT
	External object involved in contact.

double	m_UpdateNT
	Update interval.

double	m_ContactPos [3]
	Time for next update.

int	m_ContactElemIndex
	Position at contact.

double	m_ContactElemForce [3]
	Contact element index.

double	m_ContactForce [6]
	Contact element force.

int	m_NumDisPoint

double	m_ClosestPos [3]
	Number of discretized points for distance detection.

double	m_ClosestDis
	Position of closest point.

int	m_numBridles
	Distance. More...

int *	m_BridleElemIndex
	Number of bridle connectors.

double *	m_BridleForces
	Index of elements connected to a bridle.

double *	m_BridleEleRad
	Bridle forces of an element connected to a bridle.

double *	m_BridlePos

double *	m_BridleVel

int	m_numNetConnectors

int *	m_NetElemIndex
	Number of net connectors.

double *	m_NetForces
	Index of elements connected to the net.

double *	m_NetEleRad
	Net forces of an element connected to the net.

double *	m_NetPos

double *	m_NetVel

int	m_numChains

int *	m_ChainElemIndex
	Number of chain connectors.

double *	m_ChainForces
	Index of elements connected to a chain.

double *	m_ChainEleRad
	Chain forces of an element connected to a chain.

double *	m_ChainPos

double *	m_ChainVel

double *	m_elemPos

double *	m_elemVel
	Element positions.

double	m_heaveRAO
	Element velocities.

double	m_heaveMaxDelta

double *	m_heavePos

double *	m_heaveVel

CoRiBoDynamics::ConstraintSolver *	m_ConstraintSolver
	NEW.

CoRiBoDynamics::JointConstraint *	m_ConstraintSet
	Constraint solver.

CoRiBoDynamics::Structures::RingStructure *	m_RingStructure

ISignalPort **	m_BridleForcesIn
	Ring structure.

ISignalPort **	m_NetForcesIn
	Signal port containing forces from bridle connectors.

ISignalPort **	m_ChainForcesIn
	Signal port containing forces from net connections.

double	m_CollarRingDiameter
	Signal port containing forces from chain connectors.

double	m_CollarTubeDiameter
	Diameter of floating collar centre to centre (c-c) of the pipe.

double	m_CollarTubeThickness
	Diamter of the pipe comprising the floating collar.

double	m_CollarTubeUnitMass
	Wall thickness of the material comprising the floating collar tube.

bool	m_isDoubleTubeCollar
	Tube mass per metre [kg/m].

double	m_CollarTubeDistance
	True if floating collar consists of two tubes.

double	m_InitPos [3]
	Distance (centre-centre) between the to concetric pipes comprinsing a standard floating collar.

double	m_doubleSwitch
	Initial position of the center of the floating collar in (x,y,z) coordinates.

double	m_multiply
	Switch for when single (equals 0.0) and double (equals 1.0) pipe floater is used.

double	m_eModulus
	Multiplier for floating collar comprised of two concentric pipes (tubes). Equals 1.0 for one pipe floater, and 2.0 for two pipe floater.

double	m_gModulus
	Elastic modulus.

double	m_damping
	Elastic modulus.

double	m_Cd_t
	Structural damping.

double	m_Cd_n
	Drag coefficient. Tangential drag.

double	m_Ca [3]
	Drag coefficient. Normal drag.

double	m_Cb [3]
	Added mass coefficient array for Mass matrix and diffraction force. 1.0 is equal to mass of displaced water equal to 0.5rhowaterpielemeradius^2elemlength.

double	m_rhoWater
	Potential damping (wave damping) coefficient array for diffraction force. 1.0 is equal to mass of displaced water equal to 0.5rhowaterpielemeradius^2elemlength.

double	m_g
	Density of water. It kind of depends.

CEnvironment *	m_Environment
	Acceleration of gravity. Not usually something you want to meddle with.

Member Function Documentation

◆ NetPosition()

const double * System::SimpleFloatingCollar::NetPosition	(	const double	T,
		const double *const	X,
		int	i
	)

Output functions

Member Data Documentation

◆ m_numBridles

int System::SimpleFloatingCollar::m_numBridles

protected

Output closest distance

◆ m_NumConPoint

int System::SimpleFloatingCollar::m_NumConPoint

protected

Contact

◆ m_NumDisPoint

int System::SimpleFloatingCollar::m_NumDisPoint

protected

Output contact forces Contact Distance

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

reloadrepos/fhsim_maritime/src/system/CSimpleFloatingCollar.h

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ NetPosition()

Member Data Documentation

◆ m_numBridles

◆ m_NumConPoint

◆ m_NumDisPoint