Inheritance diagram for CablePendulum:

Collaboration diagram for CablePendulum:

Public Member Functions
	CablePendulum (const std::string &simObjectName, ISimObjectCreator *const creator)

void	OdeFcn (const double T, const double const X, double const XDot) const

void	InitialConditionSetup (const double T, const double const currentIC, double const updatedIC, ISimObjectCreator *const creator)

void	FinalSetup (const double T, const double const X, ISimObjectCreator const creator)

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

Protected Member Functions
void	SetOutputPortValues (const double T, const double *const X) const

const double *	MidpointPosition (const double T, const double *const X)

const double *	BallPosition (const double T, const double *const X)

const double *	BallVelocity (const double T, const double *const X)

void	segmentJacobian (const double pk, const double pl, const double vk, const double vl, double dF_dpk[9], double dF_dpl[9], double dF_dvk[9], double dF_dvl[9]) const

void	addDragJacobian (const double T, const double pk, const double pl, const double *vk, double dragFactor, double dF_dpk[9], double dF_dpl[9], double dF_dvk[9]) const
	Adds the derivatives of Drag(k,l), the force on node k, to the blocks segmentJacobian filled.

Eigen::Vector3d	Drag (int k, int l, const double T, const double *const X) const

Eigen::Vector3d	Spring (int k, int l, const double T, const double *const X) const

Eigen::Vector3d	Damp (int k, int l, const double T, const double *const X) const

const double *	SuspensionForce (const double T, const double *const X)

const double *	CableOnBallForce (const double T, const double *const X)

int	LocalIndex (int globalStateIndex) const

Protected Attributes
ICommonComputation *	m_SetOutputPortValues

ISignalPort *	m_SuspensionPos

ISignalPort *	m_SuspensionVel

environment::EnvironmentProvider *	Environment

std::vector< int >	m_PositionIndex

std::vector< int >	m_VelocityIndex

int	m_BallPositionIndex

int	m_BallVelocityIndex

int	m_stateBase = 0
	Global index of this object's first state; cached in the constructor.

int	m_NumPoints

double	m_MidpointPosition [3]

double	m_BallPosition [3]

double	m_BallVelocity [3]

double	m_SuspensionForce [3]

double	m_CableOnBallForce [3]

double	m_BallMass

double	m_BallRadius

double	m_BallDragCoef

double	m_RhoWater

double	m_BallRho

double	m_ElementMass

double	m_ElementLength0

double	m_SpringCoef

double	m_DamperCoef

double	m_GravYancy

double	m_CrossDragCoef

double	m_AlongDragCoef

double	m_Mass

double	m_Length

double	m_Diameter

double	m_RhoCable

double	m_Modulus

Member Function Documentation

◆ LocalIndex()

int CablePendulum::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 the first state it registered, so every index it uses goes through this function (BASE-0033).

◆ segmentJacobian()

void CablePendulum::segmentJacobian	(	const double *	pk,
		const double *	pl,
		const double *	vk,
		const double *	vl,
		double	dF_dpk[9],
		double	dF_dpl[9],
		double	dF_dvk[9],
		double	dF_dvl[9]
	)		const

protected

Computes structural Jacobian blocks for one cable segment. Convention: pk = "this node" (A side), pl = "other end" (B side). Outputs are 3x3 row-major matrices for dForce_on_k / d{pk,pl,vk,vl}. Covers Spring(k,l) + Damp(k,l) terms; addDragJacobian adds Drag(k,l).

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

webfhsim/reloadrepos/fhsim_base/src/adaptive/CablePendulum.h

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ LocalIndex()

◆ segmentJacobian()