hbeam_interp.h File Reference

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Functions
void	ComputeInterpolation (const Vec3 *const node_pos, const Mat3x3 *const node_or, const Vec3 *const node_f, const doublereal w, const doublereal wder, Vec3 &pos, Mat3x3 &orient, Vec3 &F, Vec3 &om)
void	ComputeFullInterpolation (const Vec3 *const node_pos, const Mat3x3 *const node_or, const Vec3 *const node_f, const doublereal w, const doublereal wder, Vec3 &pos, Mat3x3 &orient, Mat3x3 *const or_delta_w_or, Mat3x3 *const delta_pos_w_or, Mat3x3 *const delta_pos_w_pos, Vec3 &F, Vec3 &om, Mat3x3 *const delta_om_ws_or, Mat3x3 *const delta_F_ws_or, Mat3x3 *const delta_F_ws_pos)

Function Documentation

void ComputeFullInterpolation	(	const Vec3 *const	node_pos,
		const Mat3x3 *const	node_or,
		const Vec3 *const	node_f,
		const doublereal	w,
		const doublereal	wder,
		Vec3 &	pos,
		Mat3x3 &	orient,
		Mat3x3 *const	or_delta_w_or,
		Mat3x3 *const	delta_pos_w_or,
		Mat3x3 *const	delta_pos_w_pos,
		Vec3 &	F,
		Vec3 &	om,
		Mat3x3 *const	delta_om_ws_or,
		Mat3x3 *const	delta_F_ws_or,
		Mat3x3 *const	delta_F_ws_pos
	)

Definition at line 148 of file hbeam_interp.cc.

References Compute(), Vec3::Cross(), RoTrManip::Elle(), Eye3, MatExp::GetMom(), VecExp::GetVec(), MatExp::GetVec(), MatCross, NODE1, NODE2, and NUMNODES.

Referenced by HBeam::AssStiffnessMat().

                                                      {
        MatExp A1, A2, A12, A_tilde, Theta_r_I, Theta_tilde, A_xi;
        VecExp eta_r, kappa, eta_tilde;
        Compute(node_pos,node_or, node_f,xi,dexi_des,pos,orient,F,om,
                A1,A2,A12,A_tilde,Theta_r_I,Theta_tilde,A_xi,eta_r, 
                kappa,eta_tilde);

        MatExp eta_xi_delta_2(Theta_tilde*Theta_r_I*xi);
        MatExp eta_xi_delta_1(A_tilde);
                eta_xi_delta_1-=Theta_tilde*Theta_r_I*A2*xi;
        //compute traslation wrenches at xi and at the nodes:
        MatExp Trasl_n[NUMNODES];
        Trasl_n[NODE1] = MatExp(Eye3, Mat3x3(MatCross, node_pos[NODE1]));
        Trasl_n[NODE2] = MatExp(Eye3, Mat3x3(MatCross, node_pos[NODE2]));
        MatExp Trasl_xi_bak(Eye3, Mat3x3(MatCross, -pos));
        //compute delta_kappa_i
        MatExp Lambda(RoTrManip::Elle(eta_tilde,eta_r*dexi_des));
        MatExp delta_kappa_2(Lambda*xi);
                delta_kappa_2+=Theta_tilde*dexi_des;
                delta_kappa_2 = delta_kappa_2*Theta_r_I;
        MatExp delta_kappa_1(delta_kappa_2*A2*-1);
        
        //transform eta_xi_delta_i to deltapos_ordelta_xi_i
        MatExp dpos_ord_xi_1(Trasl_xi_bak*eta_xi_delta_1);
        MatExp dpos_ord_xi_2(Trasl_xi_bak*eta_xi_delta_2);
        //project to nodes delta_pos, or_delta:
        MatExp dpos_ord_dpos_ord_1(dpos_ord_xi_1*Trasl_n[NODE1]);
        MatExp dpos_ord_dpos_ord_2(dpos_ord_xi_2*Trasl_n[NODE2]);
        //extract or_delta_w_or, delta_pos_w_or and delta_pos_w_pos
        or_delta_w_or[NODE1] = dpos_ord_dpos_ord_1.GetVec();
        or_delta_w_or[NODE2] = dpos_ord_dpos_ord_2.GetVec();
        delta_pos_w_or[NODE1] = dpos_ord_dpos_ord_1.GetMom();
        delta_pos_w_or[NODE2] = dpos_ord_dpos_ord_2.GetMom();
        delta_pos_w_pos[NODE1] = dpos_ord_dpos_ord_1.GetVec();
        delta_pos_w_pos[NODE2] = dpos_ord_dpos_ord_2.GetVec();
        //project delta_kappa_1 to nodes delta_pos, or_delta:
        MatExp dkappa_dpos_ord_1(delta_kappa_1*Trasl_n[NODE1]);
        MatExp dkappa_dpos_ord_2(delta_kappa_2*Trasl_n[NODE2]);
        //extract delta_om_ws_or, delta_F_ws_or and delta_F_ws_pos
        delta_om_ws_or[NODE1] = dkappa_dpos_ord_1.GetVec();
        delta_om_ws_or[NODE2] = dkappa_dpos_ord_2.GetVec();
        //delta kappa.Mom()
        delta_F_ws_or[NODE1] = dkappa_dpos_ord_1.GetMom();
        delta_F_ws_pos[NODE1] = dkappa_dpos_ord_1.GetVec();
        delta_F_ws_or[NODE2] = dkappa_dpos_ord_2.GetMom();
        delta_F_ws_pos[NODE2] = dkappa_dpos_ord_2.GetVec();
        //x cross delta kappa.Vec()
        delta_F_ws_or[NODE1] -= pos.Cross(dkappa_dpos_ord_1.GetVec());
        delta_F_ws_or[NODE2] -= pos.Cross(dkappa_dpos_ord_2.GetVec());
        //kappa.Vec() x delta_pos
        delta_F_ws_or[NODE1] += kappa.GetVec().Cross(delta_pos_w_or[NODE1]);
        delta_F_ws_pos[NODE1] += kappa.GetVec().Cross(delta_pos_w_pos[NODE1]);
        delta_F_ws_or[NODE2] += kappa.GetVec().Cross(delta_pos_w_or[NODE2]);
        delta_F_ws_pos[NODE2] += kappa.GetVec().Cross(delta_pos_w_pos[NODE2]);

        //tarocco per l'aggiunta dell'offset f
        //le curvature e le posizioni invece sono giuste perche' 
        //viene passato node_pos=x_node+node_or*f
        Mat3x3 fodo;
        
        fodo = node_f[NODE1].Cross(or_delta_w_or[NODE1]);
        delta_pos_w_or[NODE1] -= delta_pos_w_pos[NODE1]*fodo;
        delta_F_ws_or[NODE1] -= delta_F_ws_pos[NODE1]*fodo;
        
        fodo = node_f[NODE2].Cross(or_delta_w_or[NODE2]);
        delta_pos_w_or[NODE2] -= delta_pos_w_pos[NODE2]*fodo;
        delta_F_ws_or[NODE2] -= delta_F_ws_pos[NODE2]*fodo;
}

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void ComputeInterpolation	(	const Vec3 *const	node_pos,
		const Mat3x3 *const	node_or,
		const Vec3 *const	node_f,
		const doublereal	w,
		const doublereal	wder,
		Vec3 &	pos,
		Mat3x3 &	orient,
		Vec3 &	F,
		Vec3 &	om
	)

Definition at line 132 of file hbeam_interp.cc.

References Compute().

Referenced by HBeam::AssStiffnessVec(), and HBeam::DsDxi().

                                  {
        MatExp A1, A2, A12, A_tilde, Theta_r_I, Theta_tilde, A_xi;
        VecExp eta_r, kappa, eta_tilde;
        Compute(node_pos,node_or, node_f,xi,dexi_des,pos,orient,F,om,
                A1,A2,A12,A_tilde,Theta_r_I,Theta_tilde,A_xi,eta_r, 
                kappa,eta_tilde);
};

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