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)

void	PreOdeFcn (double T, const double X, IStateUpdater updater) override
	Rebuilds the ball's wake when due and takes the other objects' wakes at the ball.

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)

const double *	BallWaterVelocity (const double T, const double *const X)
	Output port BallWaterVelocity [m/s], NED.

void	ballWaterVelocity (const double T, const double *X, double velocity[3]) const
	The water velocity at the ball: the BodyFlowInteraction's, without the ball's own wake.

void	addDragJacobian (const double T, int segment, const double pk, const double pl, const double *vk, 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 SetCableSegmentStructuralJacobian filled; `segment` is min(k, l), the segment's sample point.

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

void	takeCableWakes (const double T, const double *X)
	Takes the other objects' wakes at the segment midpoints of X for the step (MARE-0223); from PreOdeFcn.

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

CableSegmentStructuralForces	StructuralForce (int k, int l, const double T, const double *const X) const
	Spring and Damp of the segment k-l with one evaluation of the law.

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

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

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_BallWaterVelocity [3] = {0.0, 0.0, 0.0}

environment::sphere_hydro::Sphere	m_ballShape
	ρ, D = 2 R and C_d of the ball's drag.

std::optional< environment::sphere_hydro::SphereCaster >	m_ballCaster
	The ball on its states, for the wake.

environment::wake::BodyFlowInteraction	m_ballFlow
	The wake the ball casts and receives.

std::optional< environment::wake::ElementFlowInteraction >	m_cableFlow
	The flow at the segment midpoints, the other objects' wakes taken per step, received as the ball (MARE-0223, ENV-0110); from FinalSetup, with an Environment.

double	m_BallMass

double	m_BallRadius

double	m_RhoWater

double	m_BallRho

double	m_ElementMass

double	m_ElementLength0

double	m_SpringCoef

double	m_DamperCoef

double	m_GravYancy

double	m_Mass

double	m_Length

double	m_Diameter

double	m_RhoCable

double	m_Modulus

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