#include <Winch.h>

Collaboration diagram for CoRiBoDynamics::Structures::Winch:

Classes
struct	AttachedElement

class	InitialStatesLoader

struct	ObjectAndStates

class	SpatialPartition

class	SpoolingDevice

struct	StateData

Public Member Functions
	Winch (double drum_length, double drum_diameter, double flange_diameter, double flange_thickness, double beta)

vec6	ReactionForces ()

void	SetWinchRotation (double theta, double omega)

double	GetWinchTheta ()

double	GetWinchOmega ()

Quat	GetStandardizedOrientationNED ()

void	SetStates (const vec3 &P, const Quat &Q, const vec3 &V, const vec3 &W)
	Returns orientation in a standardized Forward-Starboard-Down oriented coordinate system in a Roll/Pitch/Yaw convention.

JointConstraint::ExternalRigidCoupling *	WinchCoupling (DiscreteElement *connection_element)

void	PushElement (AttachedElement &attached_element)

void	PushElement (DiscreteElement *element, const vec3 &P, const Quat &Q)

void	PushElement (DiscreteElement element, const double X)

void	PopElement (ObjectFactoryStack< DiscreteElement::TempStates > &temp_states_buffer)

vec3	P ()

Quat	Q ()

vec3	V ()

vec3	W ()

Quat	baseQ ()

const std::vector< AttachedElement, Eigen::aligned_allocator< AttachedElement > >	GetAttachedCableElements ()

std::vector< std::vector< CollisionManager::ExternalObject * > >	GetAttachedGeometry (const std::vector< CollisionManager::InternalObject * > &InternalObjects)

std::vector< CollisionManager::ExternalObject * >	CollisionCandidates (GeometryTools::AABB aabb)

double	DrumVirtualRadius ()

double	DrumRadius ()

double	DrumDiameter ()

double	DrumLength ()

double	FlangeRadius ()

double	FlangeDiameter ()

void	SetLineStructure (SupergridWinchCable *line_structure)

virtual void	XmlInfo (TiXmlElement &xml_node)

double	GetRetractedLength ()

void	WriteAttachedGeometryDataToFile (std::string filename)

void	LoadAttachedGeometryDataFromFile (InitialStatesLoader states, std::vector< DiscreteElement * > &super_elements, size_t &super_ix, size_t &sub_ix, const vec3 &target_point)

GeometryTools::AABB	GetWinchAABB ()

void	SetSpoolingDevice (vec3 relative_position, double rail_radius)

SpoolingDevice *	GetSpoolingDevice ()

CollisionManager::ExternalObject *	GetSpoolingDeviceContactGeometry ()

Static Public Member Functions
static void	WinchInitFileInfo (std::string filename, std::vector< double > &angle, std::vector< double > &retracted_length)

Protected Member Functions
void	UpdateWinchDrumGeometry ()

Protected Attributes
SpatialPartition	m_spatial_partition

SupergridWinchCable *	m_line_structure

double	m_beta

ObjectFactoryStack< ObjectAndStates >	m_attached_geometry

std::map< int, ObjectAndStates * >	m_accumulated_candidates

std::vector< AttachedElement, Eigen::aligned_allocator< AttachedElement > >	m_attached_elements

std::vector< CollisionManager::ExternalObject * >	m_winch_geometry
	relative position and orientation of attached cable elements

CollisionManager::ExternalObject	m_drum_capsule

CollisionManager::ExternalObject	m_flange1_disk

CollisionManager::ExternalObject	m_flange2_disk

CollisionManager::ExternalObject	m_block_pin_upper

CollisionManager::ExternalObject	m_block_pin_lower

double	m_drum_length

double	m_drum_diameter

double	m_flange_diameter

double	m_flange_thickness

double	m_virtual_radius

double	m_nominal_cable_radius

double	m_base_Q_array [4]

double	m_block_upper_V_array [3]

double	m_block_lower_V_array [3]

double	m_block_upper_P_array [3]

double	m_block_lower_P_array [3]

double	m_winch_Q_array [4]

double	m_flange1_V_array [3]

double	m_flange2_V_array [3]

double	m_flange1_P_array [3]

double	m_flange2_P_array [3]

double	m_theta

double	m_omega
	winch rotation

Quat	m_base_Q
	winch rotation speed

vec3	m_base_W
	winch base orientation

vec3	m_P
	winch base rotation speed

Quat	m_Q
	center position

vec3	m_V
	center orientation

vec3	m_W
	center velocity

vec3	m_winch_base_pin_connection
	center angular velocity

vec3	m_winch_base_flange_connection

vec3	m_winch_base_connection_vector

JointConstraint::ExternalRigidCoupling	m_winch_connection

SpoolingDevice *	m_spooling_device

Detailed Description

Author: Jorgen Haavind Jensen

Implements a winch drum with physical collition contact. Cable elements are "added" to the winch as they are deactivated from dynamic simulation. The deactivated elements are merged into a contact mesh that the active cable elements can collide with.

Member Function Documentation

◆ GetAttachedCableElements()

const std::vector< AttachedElement, Eigen::aligned_allocator< AttachedElement > > CoRiBoDynamics::Structures::Winch::GetAttachedCableElements ( )

inline

returns all cable elements that are currently retracted on to the winch"

◆ ReactionForces()

vec6 CoRiBoDynamics::Structures::Winch::ReactionForces ( )

Get the sum of all forces [N] and torques [Nm] acting on the winch by the cable. Includes the weight of cable "on the drum"

◆ SetStates()

void CoRiBoDynamics::Structures::Winch::SetStates	(	const vec3 &	P,
		const Quat &	Q,
		const vec3 &	V,
		const vec3 &	W
	)

Update the position and velocities of the winch. Note that the "identity rotation quaternion" refers to a winch laying flat on its side.

◆ SetWinchRotation()

void CoRiBoDynamics::Structures::Winch::SetWinchRotation	(	double	theta,
		double	omega
	)

Update the rotation state of the winch. {theta} is rotation in radians and {omega} is rotation speed in radians per second

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

/update_root/webfhsim/reloadrepos/fhsim_coribo/src/Structures/Winch.h

Classes

Public Member Functions

Static Public Member Functions