Inheritance diagram for C6DBody:

Collaboration diagram for C6DBody:

Public Member Functions
	C6DBody (std::string sSimObjectName, ISimObjectCreator *pCreator)

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const
	Calculates the state derivatives.

bool	HasJacobians () const override

void	OdeJacobian (double T, const double X, double J, int nStates) override

int	GetJacobianSparsity (int nStates, int rowPtr, int colIdx) override

virtual void	CalcDerivatives (const double adLocalForces[3], const double adLocalMoments[3], const double adGlobalForces[3], const double adGlobalMoments[3], const double adVelLocal[3], const double adOmegaLocal[3], const double adQuater[4], double adVelLocalDot[3], double adOmegaLocalDot[3], double adQuaterDot[4], double adPosGlobalDot[3]) const
	Calculates the state derivatives when the forces and moments are known.

Protected Member Functions
virtual const double *	Position (const double dT, const double *const adX)

virtual const double *	Velocity (const double dT, const double *const adX)

virtual const double *	Quater (const double dT, const double *const adX)

virtual const double *	LocalVel (const double dT, const double *const adX)

virtual const double *	AngVel (const double dT, const double *const adX)

int	LocalIndex (int globalStateIndex) const

Protected Attributes
ISignalPort *	m_pInMoment
	A pointer to the input moment.

ISignalPort *	m_pInForce
	A pointer to the input force.

double	m_dMass
	The mass of the object.

double	m_dGravity
	The gravitational acceleration.

double	m_adVelGlobal [3]
	The global velocity.

double	m_adDiagonalMass [6]
	The diagonal of the mass matrix, assuming all cross coupling terms to be zero.

int	m_IStatePos
	Index of the global position in the state std::vector.

int	m_IStateQuater
	Index of the quaternions in the state std::vector.

int	m_IStateLocalVel
	Index of the local velocity in the state std::vector.

int	m_IStateOmega
	Index of the local angular velocity in the state std::vector.

double	m_adBodySize [3]
	The size of the body along x-, y- and z-axis.

Member Function Documentation

◆ LocalIndex()

int C6DBody::LocalIndex ( int globalStateIndex ) const

inlineprotected

Turns a model-global state index into one local to this SimObject.

OdeFcn and the port functions are handed the whole model's state vector, so they use the global indices AddState returned directly. OdeJacobian is handed this object's own slice, whose first element is Pos, so every index it uses goes through this function (BASE-0033).

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

webfhsim/reloadrepos/fhsim_base/src/body/C6DBody.h

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ LocalIndex()