#include <vehj.h>

Inheritance diagram for ElasticHingeJoint:

Collaboration diagram for ElasticHingeJoint:

Public Member Functions
	ElasticHingeJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)

virtual	~ElasticHingeJoint (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	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 DeformableHingeJoint
	DeformableHingeJoint (unsigned int uL, const DofOwner pDO, const ConstitutiveLaw3D pCL, const StructNode pN1, const StructNode pN2, const Mat3x3 &tilde_R1h, const Mat3x3 &tilde_R2h, const OrientationDescription &od, flag fOut)

virtual	~DeformableHingeJoint (void)

virtual Joint::Type	GetJointType (void) const

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

void	OutputPrepare (OutputHandler &OH)

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

virtual unsigned int	iGetNumDof (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual bool	bInverseDynamics (void) 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 DeformableHingeJoint
virtual void	AssMatM (FullSubMatrixHandler &WMA, doublereal dCoef)

void	AssMatMInv (FullSubMatrixHandler &WMA, doublereal dCoef)

void	AssMatMDE (FullSubMatrixHandler &WMA, doublereal dCoef)

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

void	AssMatMDEPrimeInv (FullSubMatrixHandler &WMA, FullSubMatrixHandler &WMB, doublereal dCoef)

void	OutputInv (OutputHandler &OH) const

doublereal	dGetPrivDataInv (unsigned int i) const

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
Vec3	ThetaRef

Vec3	ThetaCurr

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from DeformableHingeJoint
const StructNode *	pNode1

const StructNode *	pNode2

Mat3x3	tilde_R1h

Mat3x3	tilde_R2h

OrientationDescription	od

bool	bFirstRes

Vec3	M

Mat3x3	MDE

Mat3x3	MDEPrime

Mat3x3	hat_I

Mat3x3	hat_IT

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 178 of file vehj.h.

Constructor & Destructor Documentation

ElasticHingeJoint::ElasticHingeJoint	(	unsigned int	uL,
		const DofOwner *	pDO,
		const ConstitutiveLaw3D *	pCL,
		const StructNode *	pN1,
		const StructNode *	pN2,
		const Mat3x3 &	tilde_R1h,
		const Mat3x3 &	tilde_R2h,
		const OrientationDescription &	od,
		flag	fOut
	)

Definition at line 541 of file vehj.cc.

References AfterPredict().

 : Elem(uL, fOut),
 DeformableHingeJoint(uL, pDO, pCL, pN1, pN2, tilde_R1h, tilde_R2h, od, fOut),
 ThetaRef(Zero3)
 {
         // force update of MDE/MDEPrime as needed
         AfterPredict();
 }

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ElasticHingeJoint::~ElasticHingeJoint ( void )

virtual

Definition at line 558 of file vehj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

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

virtual

Reimplemented from SimulationEntity.

Definition at line 564 of file vehj.cc.

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

 {
         ConstitutiveLaw3DOwner::AfterConvergence(ThetaCurr);
 }

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

virtual

Reimplemented from SimulationEntity.

Definition at line 770 of file vehj.cc.

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

 {
         ConstitutiveLaw3DOwner::AfterConvergence(ThetaCurr);
 }

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void ElasticHingeJoint::AfterPredict ( void )

protectedvirtual

Implements DeformableHingeJoint.

Reimplemented in ElasticHingeJointInv.

Definition at line 642 of file vehj.cc.

References RotManip::DRot_I(), ConstitutiveLawOwner< T, Tder >::GetFDE(), StructNode::GetRRef(), DeformableHingeJoint::MDE, Mat3x3::MulMT(), DeformableHingeJoint::pNode1, DeformableHingeJoint::pNode2, ThetaCurr, ThetaRef, DeformableHingeJoint::tilde_R1h, DeformableHingeJoint::tilde_R2h, ConstitutiveLawOwner< T, Tder >::Update(), and RotManip::VecRot().

Referenced by AssJac(), and ElasticHingeJoint().

 {
         /* 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) */
         ThetaCurr = ThetaRef = RotManip::VecRot(R1h.MulTM(R2h));
 
         /* Aggiorna il legame costitutivo */
         ConstitutiveLaw3DOwner::Update(ThetaRef);
 
         /* Calcola l'inversa di Gamma di ThetaRef */
         Mat3x3 GammaRefm1 = RotManip::DRot_I(ThetaRef);
 
         /* Chiede la matrice tangente di riferimento e la porta
          * nel sistema globale */
         MDE = R1h*ConstitutiveLaw3DOwner::GetFDE()*GammaRefm1.MulMT(R1h);
 }

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

virtual

Implements Elem.

Definition at line 572 of file vehj.cc.

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

Referenced by AssJac().

 {
         DEBUGCOUT("Entering ElasticHingeJoint::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 & ElasticHingeJoint::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		const VectorHandler &	XCurr
	)

virtual

Reimplemented from Elem.

Definition at line 713 of file vehj.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 ElasticHingeJoint::AssMat	(	FullSubMatrixHandler &	WM,
		doublereal	dCoef
	)

protectedvirtual

Definition at line 666 of file vehj.cc.

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

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*ConstitutiveLaw3DOwner::GetFDE()*GammaCurrm1.MulMT(R1h);
 #endif
 
         AssMatM(WMA, dCoef);
         AssMatMDE(WMA, dCoef);
 }

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

virtual

Reimplemented from Elem.

Definition at line 608 of file vehj.cc.

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

 {
         DEBUGCOUT("Entering ElasticHingeJoint::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 & ElasticHingeJoint::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 683 of file vehj.cc.

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

 {
         DEBUGCOUT("Entering ElasticHingeJoint::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 & ElasticHingeJoint::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 726 of file vehj.cc.

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

 {
         DEBUGCOUT("Entering ElasticHingeJoint::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 ElasticHingeJoint::AssVec ( SubVectorHandler & WorkVec )

protectedvirtual

Reimplemented in ElasticHingeJointInv.

Definition at line 777 of file vehj.cc.

References VectorHandler::Add(), DeformableHingeJoint::bFirstRes, ConstitutiveLawOwner< T, Tder >::GetF(), StructNode::GetRCurr(), DeformableHingeJoint::M, DeformableHingeJoint::pNode1, DeformableHingeJoint::pNode2, VectorHandler::Sub(), ThetaCurr, DeformableHingeJoint::tilde_R1h, DeformableHingeJoint::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);
                 ThetaCurr = RotManip::VecRot(R1h.MulTM(R2h));
                 ConstitutiveLaw3DOwner::Update(ThetaCurr);
         }
 
         /* Couple attached to node 1 */
         M = R1h*GetF();
 
         WorkVec.Add(1, M);
         WorkVec.Sub(4, M);
 }

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

inlinevirtual

Implements DeformableHingeJoint.

Definition at line 204 of file vehj.h.

References ConstLawType::ELASTIC.

                                                              {
                 return ConstLawType::ELASTIC;
         };

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

virtual

Implements SubjectToInitialAssembly.

Definition at line 799 of file vehj.cc.

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

 {
         DEBUGCOUT("Entering ElasticHingeJoint::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 & ElasticHingeJoint::InitialAssRes	(	SubVectorHandler &	WorkVec,
		const VectorHandler &	XCurr
	)

virtual

Implements SubjectToInitialAssembly.

Definition at line 831 of file vehj.cc.

References AssVec(), StructDispNode::iGetFirstPositionIndex(), InitialWorkSpaceDim(), DeformableHingeJoint::pNode1, DeformableHingeJoint::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 ElasticHingeJoint::InitialWorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

inlinevirtual

Implements SubjectToInitialAssembly.

Definition at line 264 of file vehj.h.

Referenced by InitialAssJac(), and InitialAssRes().

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

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

virtual

Reimplemented from SimulationEntity.

Definition at line 763 of file vehj.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Data Documentation

Vec3 ElasticHingeJoint::ThetaCurr

protected

Definition at line 181 of file vehj.h.

Referenced by AfterConvergence(), AfterPredict(), ElasticHingeJointInv::AfterPredict(), AssMat(), AssVec(), and ElasticHingeJointInv::AssVec().

Vec3 ElasticHingeJoint::ThetaRef

protected

Definition at line 180 of file vehj.h.

Referenced by AfterPredict(), and ElasticHingeJointInv::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