#include <rotor.h>

Inheritance diagram for ManglerRotor:

Collaboration diagram for ManglerRotor:

Public Member Functions
	ManglerRotor (unsigned int uLabel, const DofOwner *pDO)

	ManglerRotor (unsigned int uLabel, const DofOwner pDO, const StructNode pCraft, const Mat3x3 &rrot, const StructNode pRotor, const StructNode pGround, ResForceSet *ppres, const doublereal &dOR, const doublereal &dR, DriveCaller pdW, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, flag fOut)

virtual	~ManglerRotor (void)

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

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

InducedVelocity::Type	GetInducedVelocityType (void) const

virtual void	AddForce (const Elem pEl, const StructNode pNode, const Vec3 &F, const Vec3 &M, const Vec3 &X)

virtual Vec3	GetInducedVelocity (Elem::Type type, unsigned uLabel, unsigned uPnt, const Vec3 &X) const

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

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

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

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

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

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

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

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

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

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

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

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

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 Rotor
	Rotor (unsigned int uL, const DofOwner *pDO)

	Rotor (unsigned int uL, const DofOwner pDO, const StructNode pC, const Mat3x3 &rrot, const StructNode pR, const StructNode pG, ResForceSet **ppres, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, flag fOut)

virtual	~Rotor (void)

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

virtual void	Output (OutputHandler &OH) const

virtual void	SetInitialValue (VectorHandler &)

virtual const Vec3 &	GetXCurr (void) const

virtual doublereal	dGetOmega (void) const

virtual doublereal	dGetRadius (void) const

virtual doublereal	dGetMu (void) const

virtual const Vec3 &	GetForces (void) const

virtual const Vec3 &	GetMoments (void) const

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

Public Member Functions inherited from InducedVelocityElem
	InducedVelocityElem (unsigned int uL, const DofOwner pDO, const StructNode pCraft, ResForceSet **ppres, flag fOut)

virtual	~InducedVelocityElem (void)

virtual Elem::Type	GetElemType (void) const

virtual AerodynamicElem::Type	GetAerodynamicElemType (void) const

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

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

virtual	~AerodynamicElem (void)

virtual bool	NeedsAirProperties (void) const

virtual const InducedVelocity *	pGetInducedVelocity (void) 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 AirPropOwner
	AirPropOwner (void)

virtual	~AirPropOwner (void)

virtual void	PutAirProperties (const AirProperties *pAP)

virtual flag	fGetAirVelocity (Vec3 &Velocity, const Vec3 &X) const

virtual doublereal	dGetAirDensity (const Vec3 &X) const

virtual doublereal	dGetAirPressure (const Vec3 &X) const

virtual doublereal	dGetAirTemperature (const Vec3 &X) const

virtual doublereal	dGetSoundSpeed (const Vec3 &X) const

virtual bool	GetAirProps (const Vec3 &X, doublereal &rho, doublereal &c, doublereal &p, doublereal &T) const

Public Member Functions inherited from InducedVelocity
	InducedVelocity (unsigned int uL, const StructNode pCraft, ResForceSet *ppres, flag fOut)

virtual	~InducedVelocity (void)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual bool	bSectionalForces (void) const

virtual unsigned int	iGetNumDof (void) const

virtual void	AddSectionalForce (Elem::Type type, const Elem *pEl, unsigned uPnt, const Vec3 &F, const Vec3 &M, doublereal dW, const Vec3 &X, const Mat3x3 &R, const Vec3 &V, const Vec3 &W)

virtual void	ResetForce (void)

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

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

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

Protected Member Functions
virtual void	Init (const StructNode pCraft, const Mat3x3 &rrot, const StructNode pRotor, const StructNode pGround, ResForceSet ppres, const doublereal &dOR, const doublereal &dR, DriveCaller pdW, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, const doublereal &dCH, const doublereal &dCFF, flag fOut)

Protected Member Functions inherited from Rotor
virtual doublereal	dGetPsi (const Vec3 &X) const

virtual doublereal	dGetPos (const Vec3 &X) const

virtual void	GetPos (const Vec3 &X, doublereal &dr, doublereal &dp) const

virtual void	InitParam (bool bComputeMeanInducedVelocity=true)

virtual void	Init (const StructNode pC, const Mat3x3 &rrot, const StructNode pR, const StructNode pG, ResForceSet *ppres, const doublereal &dR, unsigned int iMaxIt, const doublereal &dTol, const doublereal &dE, flag fOut)

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 AerodynamicElem
enum	Type { UNKNOWN = -1, INDUCEDVELOCITY = 0, AEROMODAL, AERODYNAMICBODY, AERODYNAMICBEAM, AERODYNAMICEXTERNAL, AERODYNAMICEXTERNALMODAL, AERODYNAMICLOADABLE, AIRCRAFTINSTRUMENTS, GENERICFORCE, LASTAEROTYPE }

Public Types inherited from InducedVelocity
enum	Type { UNKNOWN = -1, USER_DEFINED = 0x01000000U, ROTOR = 0x10000000U, NO = (0U \| ROTOR), UNIFORM = (1U \| ROTOR), GLAUERT = (2U \| ROTOR), MANGLER = (3U \| ROTOR), DYNAMICINFLOW = (4U \| ROTOR), PETERS_HE = (5U \| ROTOR), CYCLOCOPTER = (11U \| ROTOR), LASTROTORTYPE }

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from Rotor
const StructNode *	pRotor

const StructNode *	pGround

doublereal	dOmegaRef

doublereal	dRadius

doublereal	dVTipRef

doublereal	dArea

doublereal	dUMean

doublereal	dUMeanRef

doublereal	dUMeanPrev

unsigned int	iMaxIter

unsigned int	iCurrIter

doublereal	dTolerance

doublereal	dEta

bool	bUMeanRefConverged

DriveOwner	Weight

doublereal	dWeight

doublereal	dHoverCorrection

doublereal	dForwardFlightCorrection

Mat3x3	RRotTranspose

Mat3x3	RRot

Vec3	RRot3

Vec3	VCraft

doublereal	dPsi0

doublereal	dSinAlphad

doublereal	dCosAlphad

doublereal	dMu

doublereal	dLambda

doublereal	dChi

doublereal	dVelocity

doublereal	dOmega

int	iNumSteps

Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties

Protected Attributes inherited from InducedVelocity
const StructNode *	pCraft

ExternResForces	Res

ResForceSet **	ppRes

Detailed Description

Definition at line 462 of file rotor.h.

Constructor & Destructor Documentation

ManglerRotor::ManglerRotor	(	unsigned int	uLabel,
		const DofOwner *	pDO
	)

Definition at line 1261 of file rotor.cc.

References NO_OP.

 : Elem(uLabel, flag(0)),
 Rotor(uLabel, pDO)
 {
         NO_OP;
 }

ManglerRotor::ManglerRotor	(	unsigned int	uLabel,
		const DofOwner *	pDO,
		const StructNode *	pCraft,
		const Mat3x3 &	rrot,
		const StructNode *	pRotor,
		const StructNode *	pGround,
		ResForceSet **	ppres,
		const doublereal &	dOR,
		const doublereal &	dR,
		DriveCaller *	pdW,
		unsigned int	iMaxIt,
		const doublereal &	dTol,
		const doublereal &	dE,
		const doublereal &	dCH,
		const doublereal &	dCFF,
		flag	fOut
	)

Definition at line 1268 of file rotor.cc.

References Init().

 : Elem(uLabel, flag(0)),
 Rotor(uLabel, pDO)
 {
         Init(pCraft, rrot, pRotor, pGround, ppres, dOR, dR, pdW, iMaxIt, dTol, dE, dCH, dCFF, fOut);
 }

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ManglerRotor::~ManglerRotor ( void )

virtual

Definition at line 1346 of file rotor.cc.

References SAFEDELETE, and SAFEDELETEARR.

 {
 #ifdef USE_MPI
         SAFEDELETEARR(pBlockLenght);
         SAFEDELETEARR(pDispl);
         SAFEDELETE(pIndVelDataType);
 #endif /* USE_MPI */
 }

Member Function Documentation

void ManglerRotor::AddForce	(	const Elem *	pEl,
		const StructNode *	pNode,
		const Vec3 &	F,
		const Vec3 &	M,
		const Vec3 &	X
	)

virtual

Reimplemented from InducedVelocity.

Definition at line 1427 of file rotor.cc.

References ResForces::AddForce(), InducedVelocity::AddForce(), ResForces::AddForces(), ToBeOutput::bToBeOutput(), MYSLEEP, and InducedVelocity::Res.

 {
 #ifdef USE_MPI
         if (ReqV != MPI::REQUEST_NULL) {
                 while (!ReqV.Test()) {
                         MYSLEEP(mysleeptime);
                 }
         }
 #endif /* USE_MPI */
 
 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
         pthread_mutex_lock(&forces_mutex);
         Wait();
 #endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
 
         /* Solo se deve fare l'output calcola anche il momento */
         if (bToBeOutput()) {
                 Res.AddForces(F, M, X);
                 InducedVelocity::AddForce(pEl, pNode, F, M, X);
         } else {
                 Res.AddForce(F);
         }
 
 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
         pthread_mutex_unlock(&forces_mutex);
 #endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
 }

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

virtual

Implements Elem.

Definition at line 1358 of file rotor.cc.

References Rotor::dCosAlphad, DEBUGCOUT, Rotor::dGetPos(), Rotor::dGetPsi(), Rotor::dLambda, Rotor::dMu, Rotor::dOmega, Rotor::dPsi0, Rotor::dRadius, Rotor::dSinAlphad, Rotor::dUMean, Rotor::dVelocity, ToBeOutput::fToBeOutput(), GetInducedVelocity(), StructDispNode::GetXCurr(), Rotor::InitParam(), Rotor::pRotor, InducedVelocity::ResetForce(), VectorHandler::Resize(), and Rotor::VCraft.

 {
         DEBUGCOUT("Entering ManglerRotor::AssRes()" << std::endl);
 
 #ifdef USE_MPI
         ExchangeLoads(fToBeOutput());
         if (!is_parallel || IndVelComm.Get_rank() == 0)
 #endif /* USE_MPI */
         {
                 /* Calcola parametri vari */
                 Rotor::InitParam();
 
 #ifdef DEBUG
                 // Prova:
 #if 0
                 Vec3 XTmp(2.,2.,0.);
                 doublereal dPsiTmp = dGetPsi(XTmp);
                 doublereal dXTmp = dGetPos(XTmp);
                 Vec3 IndV = GetInducedVelocity(XTmp);
                 std::cout
                         << "X rotore:  " << pRotor->GetXCurr() << std::endl
                         << "V rotore:  " << VCraft << std::endl
                         << "X punto:   " << XTmp << std::endl
                         << "Omega:     " << dOmega << std::endl
                         << "Velocita': " << dVelocity << std::endl
                         << "Psi0:      " << dPsi0 << std::endl
                         << "Psi punto: " << dPsiTmp << std::endl
                         << "Raggio:    " << dRadius << std::endl
                         << "r punto:   " << dXTmp << std::endl
                         << "mu:        " << dMu << std::endl
                         << "lambda:    " << dLambda << std::endl
                         << "cos(ad):   " << dCosAlphad << std::endl
                         << "sin(ad):   " << dSinAlphad << std::endl
                         << "UMean:     " << dUMean << std::endl
                         << "iv punto:  " << IndV << std::endl;
 #endif
 #endif /* DEBUG */
         }
 
 #ifdef USE_MPI
         ExchangeVelocity();
 #endif /* USE_MPI */
 
         ResetForce();
 
         /* Non tocca il residuo */
         WorkVec.Resize(0);
 
 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
         Done();
 #endif // USE_MULTITHREAD && MBDYN_X_MT_ASSRES
 
         return WorkVec;
 }

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Vec3 ManglerRotor::GetInducedVelocity	(	Elem::Type	type,
		unsigned	uLabel,
		unsigned	uPnt,
		const Vec3 &	X
	)		const

virtual

Implements InducedVelocity.

Definition at line 1460 of file rotor.cc.

References grad::cos(), Rotor::dSinAlphad, Rotor::dUMeanPrev, Rotor::GetPos(), M_PI, grad::pow(), Rotor::RRot3, grad::sqrt(), and Zero3.

Referenced by AssRes().

 {
         if (dUMeanPrev == 0.) {
                 return ::Zero3;
         }
 
 #if defined(USE_MULTITHREAD) && defined(MBDYN_X_MT_ASSRES)
         Wait();
 #endif /* USE_MULTITHREAD && MBDYN_X_MT_ASSRES */
 
         doublereal dr, dp;
         GetPos(X, dr, dp);
 
         doublereal dr2 = dr*dr;
         doublereal dm2 = 1. - dr2;
         doublereal dm = 0.;
         if (dm2 > 0.) {
                 dm = sqrt(dm2);
         }
         doublereal da = 1. + std::abs(dSinAlphad);
         if (da > 1.e-9) {
                 da = (1. - std::abs(dSinAlphad))/da;
         }
         if (da > 0.) {
                 da = sqrt(da);
         }
 
         // c_0
         doublereal dd = 15./4.*dm*dr2;
 
         // c_1
         doublereal dc = -15./256.*M_PI*(9.*dr2 - 4.)*dr*da;
         dd -= 4.*dc*cos(dp);
 
         // c_3
         dc = 45./256.*M_PI*pow(da*dr, 3);
         dd -= 4.*dc*cos(3.*dp);
 
         // c_[5:2:infty] = 0
 
         // c_[2:2:infty] (truncated at 10)
         for (int i = 2; i <= 10; i += 2) {
                 dc = pow(-1., i/2 - 1)*15./8.
                         *((dm + i)/(i*i - 1.)*(3. - 9.*dr2 + i*i) + 3.*dm)/(i*i - 9.)
                         *pow(((1. - dm)/(1. + dm))*da, i/2.);
                 dd -= 4.*dc*cos(i*dp);
         }
 
         return RRot3*(dd*dUMeanPrev);
 };

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InducedVelocity::Type ManglerRotor::GetInducedVelocityType ( void ) const

inlinevirtual

Implements InducedVelocity.

Definition at line 509 of file rotor.h.

References InducedVelocity::MANGLER.

                                                                {
                 return InducedVelocity::MANGLER;
         };

void ManglerRotor::Init	(	const StructNode *	pCraft,
		const Mat3x3 &	rrot,
		const StructNode *	pRotor,
		const StructNode *	pGround,
		ResForceSet **	ppres,
		const doublereal &	dOR,
		const doublereal &	dR,
		DriveCaller *	pdW,
		unsigned int	iMaxIt,
		const doublereal &	dTol,
		const doublereal &	dE,
		const doublereal &	dCH,
		const doublereal &	dCFF,
		flag	fOut
	)

protectedvirtual

Definition at line 1291 of file rotor.cc.

References ASSERT, Rotor::dArea, Rotor::dForwardFlightCorrection, Rotor::dHoverCorrection, Rotor::dOmegaRef, Rotor::dPsi0, Rotor::dRadius, Rotor::dSinAlphad, Rotor::dUMeanPrev, Rotor::dVTipRef, Rotor::Init(), M_PI, Mat3x3::pGetMat(), Vec3::pGetVec(), ExternResForces::Pole(), InducedVelocity::Res, Rotor::RRot3, Rotor::RRotTranspose, SAFENEWARR, SAFENEWWITHCONSTRUCTOR, DriveOwner::Set(), and Rotor::Weight.

Referenced by ManglerRotor().

 {
         ASSERT(dOR > 0.);
         ASSERT(dR > 0.);
         ASSERT(pdW != 0);
 
         Rotor::Init(pCraft, rrot, pRotor, pGround, ppres, dR, iMaxIt, dTol, dE, fOut);
 
         dOmegaRef = dOR;
         dVTipRef = dOmegaRef*dRadius;
         dArea = M_PI*dRadius*dRadius;
         Weight.Set(pdW);
         dHoverCorrection = dCH;
         dForwardFlightCorrection = dCFF;
 
 #ifdef USE_MPI
         if (is_parallel) {
                 SAFENEWARR(pBlockLenght, int, 18);
                 SAFENEWARR(pDispl, MPI::Aint, 18);
                 for (int i = 0; i < 18; i++) {
                         pBlockLenght[i] = 1;
                 }
                 for (int i = 0; i < 3; i++) {
                         pDispl[i] = MPI::Get_address(&(RRot3.pGetVec()[i]));
                 }
                 pDispl[3] = MPI::Get_address(&dUMeanPrev);
                 pDispl[4] = MPI::Get_address(&dSinAlphad);
                 pDispl[5] = MPI::Get_address(&dPsi0);
                 for (int i = 6; i <= 8; i++) {
                         pDispl[i] = MPI::Get_address(&(Res.Pole().pGetVec()[i-6]));
                 }
                 for (int i = 9; i < 18; i++) {
                         pDispl[i] = MPI::Get_address(&(RRotTranspose.pGetMat()[i-9]));
                 }
                 SAFENEWWITHCONSTRUCTOR(pIndVelDataType, MPI::Datatype,
                                 MPI::Datatype(MPI::DOUBLE.Create_hindexed(18, pBlockLenght, pDispl)));
                 pIndVelDataType->Commit();
         }
 #endif /* USE_MPI */
 }

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

virtual

Reimplemented from Rotor.

Definition at line 1417 of file rotor.cc.

References Rotor::dForwardFlightCorrection, Rotor::dHoverCorrection, Rotor::dRadius, DriveOwner::pGetDriveCaller(), Rotor::Restart(), DriveCaller::Restart(), and Rotor::Weight.

 {
         return Rotor::Restart(out) << "Mangler, " << dRadius << ", ",
                 Weight.pGetDriveCaller()->Restart(out)
                 << ", correction, " << dHoverCorrection
                 << ", " << dForwardFlightCorrection << ';' << std::endl;
 }

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation