#include <vehj4.h>

Inheritance diagram for ElasticAxialJoint:

Collaboration diagram for ElasticAxialJoint:

Public Member Functions
	ElasticAxialJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructNode pN1, const StructNode pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, flag fOut)

virtual	~ElasticAxialJoint (void)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual ConstLawType::Type	GetConstLawType (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual void	InitialWorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	InitialAssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	InitialAssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr)

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from DeformableAxialJoint
	DeformableAxialJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw1D pCL, const StructNode pN1, const StructNode pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, flag fOut)

virtual	~DeformableAxialJoint (void)

virtual Joint::Type	GetJointType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	Output (OutputHandler &OH) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints ph=0)

virtual void	SetInitialValue (VectorHandler &)

virtual bool	bInverseDynamics (void) const

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual unsigned int	iGetNumDof (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual unsigned int	iGetInitialNumDof (void) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

Public Member Functions inherited from Joint
	Joint (unsigned int uL, const DofOwner *pD, flag fOut)

virtual	~Joint (void)

virtual Elem::Type	GetElemType (void) const

std::ostream &	Output (std::ostream &out, const char *sJointName, unsigned int uLabel, const Vec3 &FLocal, const Vec3 &MLocal, const Vec3 &FGlobal, const Vec3 &MGlobal) const

bool	bIsPrescribedMotion (void) const

bool	bIsTorque (void) const

Public Member Functions inherited from ElemGravityOwner
	ElemGravityOwner (unsigned int uL, flag fOut)

virtual	~ElemGravityOwner (void)

virtual doublereal	dGetM (void) const

Vec3	GetS (void) const

Mat3x3	GetJ (void) const

Vec3	GetB (void) const

Vec3	GetG (void) const

Public Member Functions inherited from GravityOwner
	GravityOwner (void)

virtual	~GravityOwner (void)

void	PutGravity (const Gravity *pG)

virtual bool	bGetGravity (const Vec3 &X, Vec3 &Acc) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

Public Member Functions inherited from InitialAssemblyElem
	InitialAssemblyElem (unsigned int uL, flag fOut)

virtual	~InitialAssemblyElem (void)

Public Member Functions inherited from SubjectToInitialAssembly
	SubjectToInitialAssembly (void)

virtual	~SubjectToInitialAssembly (void)

Public Member Functions inherited from ConstitutiveLawOwner< T, Tder >
	ConstitutiveLawOwner (const ConstitutiveLaw< T, Tder > *pCL)

virtual	~ConstitutiveLawOwner (void)

ConstitutiveLaw< T, Tder > *	pGetConstLaw (void) const

void	Update (const T &Eps, const T &EpsPrime=mb_zero< T >())

void	AfterConvergence (const T &Eps, const T &EpsPrime=mb_zero< T >())

const T &	GetF (void) const

const Tder &	GetFDE (void) const

const Tder &	GetFDEPrime (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int i) const

virtual std::ostream &	OutputAppend (std::ostream &out) const

Protected Member Functions
virtual void	AfterPredict (void)

virtual void	AssMat (FullSubMatrixHandler &WM, doublereal dCoef)

virtual void	AssVec (SubVectorHandler &WorkVec)

Protected Member Functions inherited from DeformableAxialJoint
virtual void	AssMatM (FullSubMatrixHandler &WMA, doublereal dCoef)

void	AssMatMDE (FullSubMatrixHandler &WMA, doublereal dCoef)

virtual void	AssMatMDEPrime (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

Protected Member Functions inherited from Joint
virtual void	OutputPrepare_int (const std::string &type, OutputHandler &OH, std::string &name)

Protected Member Functions inherited from ElemGravityOwner
virtual Vec3	GetS_int (void) const

virtual Mat3x3	GetJ_int (void) const

virtual Vec3	GetB_int (void) const

virtual Vec3	GetG_int (void) const

Protected Attributes
doublereal	dThetaRef

doublereal	dThetaCurr

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from DeformableAxialJoint
const StructNode *	pNode1

const StructNode *	pNode2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

bool	bFirstRes

doublereal	dTol

doublereal	dM

doublereal	dMDE

doublereal	dMDEPrime

Vec3	M

Mat3x3	MDE

Mat3x3	MDEPrime

Protected Attributes inherited from GravityOwner
Gravity *	pGravity

Protected Attributes inherited from ConstitutiveLawOwner< T, Tder >
ConstitutiveLaw< T, Tder > *	pConstLaw

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Joint
enum	Type { UNKNOWN = -1, DISTANCE = 0, DISTANCEWITHOFFSET, CLAMP, SPHERICALHINGE, PIN, UNIVERSALHINGE, UNIVERSALROTATION, UNIVERSALPIN, PLANEHINGE, PLANEROTATION, PLANEPIN, AXIALROTATION, PLANEDISP, PLANEDISPPIN, INPLANE, INPLANECONTACT, J_INLINE, ROD, RODBEZIER, DEFORMABLEHINGE, DEFORMABLEDISPJOINT, DEFORMABLEJOINT, DEFORMABLEAXIALJOINT, VISCOUSBODY, LINEARVELOCITY, ANGULARVELOCITY, LINEARACCELERATION, ANGULARACCELERATION, PRISMATIC, DRIVEHINGE, DRIVEDISP, DRIVEDISPPIN, IMPOSEDORIENTATION, IMPOSEDDISP, IMPOSEDDISPPIN, IMPOSEDKINEMATICS, BEAMSLIDER, BRAKE, GIMBAL, POINT_SURFACE_CONTACT, TOTALJOINT, TOTALPINJOINT, TOTALEQUATION, TOTALREACTION, MODAL, SCREWJOINT, LASTJOINTTYPE }

Detailed Description

Definition at line 159 of file vehj4.h.

Constructor & Destructor Documentation

ElasticAxialJoint::ElasticAxialJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw1D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	tilde_R1h,
		const Mat3x3 &	tilde_R2h,
		flag	fOut
	)

Definition at line 301 of file vehj4.cc.

References AfterPredict().

 : Elem(uL, fOut),
 DeformableAxialJoint(uL, pDO, pCL, pN1, pN2, tilde_R1h, tilde_R2h, fOut),
 dThetaRef(0.)
 {
         // force update of MDE/MDEPrime as needed
         AfterPredict();
 }

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ElasticAxialJoint::~ElasticAxialJoint ( void )

virtual

Definition at line 317 of file vehj4.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

void ElasticAxialJoint::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 323 of file vehj4.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and dThetaCurr.

 {
         ConstitutiveLaw1DOwner::AfterConvergence(dThetaCurr);
 }

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void ElasticAxialJoint::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP,
		const VectorHandler &	XPP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 527 of file vehj4.cc.

References ConstitutiveLawOwner< T, Tder >::AfterConvergence(), and dThetaCurr.

 {
         ConstitutiveLaw1DOwner::AfterConvergence(dThetaCurr);
 }

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void ElasticAxialJoint::AfterPredict ( void )

protectedvirtual

Implements DeformableAxialJoint.

Definition at line 401 of file vehj4.cc.

References dThetaCurr, dThetaRef, ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRRef(), DeformableAxialJoint::MDE, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, Mat3x3::Tens(), DeformableAxialJoint::tilde_R1h, DeformableAxialJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

Referenced by AssJac(), and ElasticAxialJoint().

 {
         /* Calcola le deformazioni, aggiorna il legame costitutivo
          * e crea la MDE */
 
         /* Recupera i dati */
         Mat3x3 R1h(pNode1->GetRRef()*tilde_R1h);
         Mat3x3 R2h(pNode2->GetRRef()*tilde_R2h);
 
         /* Calcola la deformazione corrente nel sistema locale (nodo a) */
         dThetaCurr = dThetaRef = RotManip::VecRot(R1h.MulTM(R2h))(3);
 
         /* Aggiorna il legame costitutivo */
         ConstitutiveLaw1DOwner::Update(dThetaRef);
 
         /* Chiede la matrice tangente di riferimento e la porta
          * nel sistema globale */
         Vec3 e1z(R1h.GetVec(3));
         MDE = e1z.Tens(e1z*ConstitutiveLaw1DOwner::GetFDE());
 }

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VariableSubMatrixHandler & ElasticAxialJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 331 of file vehj4.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), and Elem::WorkSpaceDim().

Referenced by AssJac().

 {
         DEBUGCOUT("Entering ElasticAxialJoint::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMat(WM, dCoef);
 
         return WorkMat;
 }

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VariableSubMatrixHandler & ElasticAxialJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Elem.

Definition at line 440 of file vehj4.cc.

References AfterPredict(), ASSERT, AssJac(), and Elem::bIsErgonomy().

 {
         ASSERT(bIsErgonomy());
 
         // HACK?  Need to call AfterPredict() here to update MDE and so
         AfterPredict();
 
         return AssJac(WorkMat, 1., XCurr, XCurr);
 }

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void ElasticAxialJoint::AssMat	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protectedvirtual

Definition at line 423 of file vehj4.cc.

References DeformableAxialJoint::AssMatM(), DeformableAxialJoint::AssMatMDE(), RotManip::DRot_I(), ConstitutiveLawOwner< T, Tder >::GetFDE(), DeformableAxialJoint::MDE, and Mat3x3::MulMT().

Referenced by AssJac(), AssMats(), and InitialAssJac().

 {
 #if 0
         // Calcola l'inversa di Gamma di ThetaRef
         Mat3x3 GammaCurrm1 = RotManip::DRot_I(ThetaCurr);
 
         // Chiede la matrice tangente di riferimento e la porta
         // nel sistema globale
         MDE = R1h*ConstitutiveLaw1DOwner::GetFDE()*GammaCurrm1.MulMT(R1h);
 #endif
 
         AssMatM(WMA, dCoef);
         AssMatMDE(WMA, dCoef);
 }

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void ElasticAxialJoint::AssMats	(	VariableSubMatrixHandler &	WorkMatA,
		VariableSubMatrixHandler &	WorkMatB,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Reimplemented from Elem.

Definition at line 367 of file vehj4.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), StructDispNode::iGetFirstPositionIndex(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), VariableSubMatrixHandler::SetFull(), VariableSubMatrixHandler::SetNullMatrix(), and Elem::WorkSpaceDim().

 {
         DEBUGCOUT("Entering ElasticAxialJoint::AssJac()" << std::endl);
 
         FullSubMatrixHandler& WMA = WorkMatA.SetFull();
         WorkMatB.SetNullMatrix();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WMA.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WMA.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WMA.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WMA.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
                 WMA.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMat(WMA, 1.);
 }

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SubVectorHandler & ElasticAxialJoint::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 453 of file vehj4.cc.

References AssVec(), DEBUGCOUT, StructDispNode::iGetFirstMomentumIndex(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and Elem::WorkSpaceDim().

 {
         DEBUGCOUT("Entering ElasticAxialJoint::AssRes()" << std::endl);
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstMomentumIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstMomentumIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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SubVectorHandler & ElasticAxialJoint::AssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr,
		const VectorHandler &	XPrimePrimeCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from Elem.

Definition at line 483 of file vehj4.cc.

References ASSERT, AssVec(), DeformableAxialJoint::bFirstRes, Elem::bIsErgonomy(), DEBUGCOUT, StructDispNode::iGetFirstPositionIndex(), InverseDynamics::INVERSE_DYNAMICS, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, InverseDynamics::POSITION, SubVectorHandler::PutRowIndex(), VectorHandler::ResizeReset(), and Elem::WorkSpaceDim().

 {
         DEBUGCOUT("Entering ElasticAxialJoint::AssRes()" << std::endl);
 
         ASSERT(iOrder == InverseDynamics::INVERSE_DYNAMICS
                 || (iOrder == InverseDynamics::POSITION && bIsErgonomy()));
         
         /* There is no need to call AfterPredict, everything is done in AssVec*/
         bFirstRes = false;
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         WorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstMomIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode2FirstMomIndex = pNode2->iGetFirstPositionIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstMomIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstMomIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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void ElasticAxialJoint::AssVec ( SubVectorHandler & WorkVec )

protectedvirtual

Definition at line 535 of file vehj4.cc.

References VectorHandler::Add(), DeformableAxialJoint::bFirstRes, dThetaCurr, DeformableAxialJoint::dTol, ConstitutiveLawOwner< T, Tder >::GetF(), WithLabel::GetLabel(), StructNode::GetRCurr(), DeformableAxialJoint::M, DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, VectorHandler::Sub(), DeformableAxialJoint::tilde_R1h, DeformableAxialJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

Referenced by AssRes(), and InitialAssRes().

 {
         Mat3x3 R1h(pNode1->GetRCurr()*tilde_R1h);
 
         if (bFirstRes) {
                 bFirstRes = false;
 
         } else {
                 Mat3x3 R2h(pNode2->GetRCurr()*tilde_R2h);
                 Vec3 ThetaCurr(RotManip::VecRot(R1h.MulTM(R2h)));
                 dThetaCurr = ThetaCurr(3);
                 ConstitutiveLaw1DOwner::Update(dThetaCurr);
 
                 // sanity check
                 if (dTol > 0.) {
                         ThetaCurr(3) = 0.;
                         doublereal dErr = ThetaCurr.Norm();
                         if (dErr > dTol) {
                                 silent_cerr("ElasticAxialJoint(" << GetLabel() << "): axes non-colinear (err=" << dErr << ")" << std::endl);
                         }
                 }
         }
 
         /* Couple attached to node 1 */
         M = R1h.GetVec(3)*GetF();
 
         WorkVec.Add(1, M);
         WorkVec.Sub(4, M);
 }

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virtual ConstLawType::Type ElasticAxialJoint::GetConstLawType ( void ) const

inlinevirtual

Implements DeformableAxialJoint.

Definition at line 184 of file vehj4.h.

References ConstLawType::ELASTIC.

                                                              {
                 return ConstLawType::ELASTIC;
         };

VariableSubMatrixHandler & ElasticAxialJoint::InitialAssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 567 of file vehj4.cc.

References AssMat(), DEBUGCOUT, StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, FullSubMatrixHandler::PutColIndex(), FullSubMatrixHandler::PutRowIndex(), FullSubMatrixHandler::ResizeReset(), and VariableSubMatrixHandler::SetFull().

 {
         DEBUGCOUT("Entering ElasticAxialJoint::InitialAssJac()" << std::endl);
 
         FullSubMatrixHandler& WM = WorkMat.SetFull();
 
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WM.ResizeReset(iNumRows, iNumCols);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WM.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutColIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WM.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
                 WM.PutColIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssMat(WM, 1.);
 
         return WorkMat;
 }

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SubVectorHandler & ElasticAxialJoint::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 599 of file vehj4.cc.

References AssVec(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableAxialJoint::pNode1, DeformableAxialJoint::pNode2, SubVectorHandler::PutRowIndex(), and VectorHandler::ResizeReset().

 {
         /* Dimensiona e resetta la matrice di lavoro */
         integer iNumRows = 0;
         integer iNumCols = 0;
         InitialWorkSpaceDim(&iNumRows, &iNumCols);
         WorkVec.ResizeReset(iNumRows);
 
         /* Recupera gli indici */
         integer iNode1FirstPosIndex = pNode1->iGetFirstPositionIndex() + 3;
         integer iNode2FirstPosIndex = pNode2->iGetFirstPositionIndex() + 3;
 
         /* Setta gli indici della matrice */
         for (int iCnt = 1; iCnt <= 3; iCnt++) {
                 WorkVec.PutRowIndex(iCnt, iNode1FirstPosIndex + iCnt);
                 WorkVec.PutRowIndex(3 + iCnt, iNode2FirstPosIndex + iCnt);
         }
 
         AssVec(WorkVec);
 
         return WorkVec;
 }

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virtual void ElasticAxialJoint::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 244 of file vehj4.h.

Referenced by InitialAssJac(), and InitialAssRes().

                                                   {
                 *piNumRows = 6;
                 *piNumCols = 6;
         };

void ElasticAxialJoint::Update	(	const VectorHandler &	XCurr,
		InverseDynamics::Order	iOrder = `InverseDynamics::INVERSE_DYNAMICS`
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 520 of file vehj4.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Data Documentation

doublereal ElasticAxialJoint::dThetaCurr

protected

Definition at line 162 of file vehj4.h.

Referenced by AfterConvergence(), AfterPredict(), and AssVec().

doublereal ElasticAxialJoint::dThetaRef

protected

Definition at line 161 of file vehj4.h.

Referenced by AfterPredict().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation