Crowfoot Class Reference

Inheritance diagram for Crowfoot:

Collaboration diagram for Crowfoot:

Public Member Functions
	Crowfoot (const std::string &simObjectName, ISimObjectCreator *const creator)
	Reads parameters, registers states, input/output ports and shared resources.
void	OdeFcn (const double T, const double *const X, double *const XDot) const override
void	PreOdeFcn (double T, const double *X) override
void	AcceptedStep (const double T, const double *const X) override
void	UpdateVelocity (const double T)
	Backward-differences the solved collecting point position.
void	Solve (const double T, const double *const X) const
	Solves the collecting point at (T, X) and stores it and the line forces.
void	SeedFilterOnce (const double T, const double *const X) const
	Seeds the force filter with the external force at (T, X), the first time it is called.
virtual const double *	PositionOut (const double t, const double *const x)
virtual const double *	VelocityOut (const double t, const double *const x)
virtual const double *	LineForceOut (const double t, const double *const x, int lineIndex)
virtual const double *	LineTensionOut (const double t, const double *const x, int lineIndex)

Protected Attributes
int	m_numLines
std::vector< const double * >	m_linesPos
std::vector< std::array< double, 3 > >	m_linesForce
std::vector< double >	m_linesTension
std::vector< ISignalPort * >	m_inFasteningPositions
std::vector< ISignalPort * >	m_inLengths
ISignalPort *	m_inExternalForce
CrowfootMath *	m_crowfoot
ICommonComputation *	m_solve = nullptr
	Solve, once per evaluation.
bool	m_filterSeeded = false
	Whether the force filter holds the force of the first solve.
double	m_velocity [3]
double	m_instantPos [3]
double	m_prevPos [3]
	Solved position at the previous accepted step.
double	m_prevTime
	Time of the previous accepted step.
bool	m_hasPrevPos
	Whether an accepted step has been seen yet.
sfh::filters::FIR	m_filter

Constructor & Destructor Documentation

Crowfoot()

Crowfoot::Crowfoot	(	const std::string &	simObjectName,
		ISimObjectCreator *const	creator
	)

The constructor performs all initial setup for a crow foot simobject. Reading in parameters, setting up communication interface i.e. output ports, input ports, and states, plus additional 'one time only' resource setup.

Reads the "NumLines" parameter. Registers the input ports "ExternalForce", "LinePos<N>" and "LineLength<N>" and the output ports "LineForce<N>", "LineTension<N>", "ExternalPos" and "ExternalVel". Registers no states.

Parameters

[in]	simObjectName	-> The name of the simobject
[in]	creator	-> Retrieve parameters. Register states, ports and shared resources

Member Function Documentation

Solve()

void Crowfoot::Solve	(	const double	T,
		const double *const	X
	)		const

Reads the fastening positions and lengths at (T, X) and solves the crow foot with the filtered external force. The filter is seeded before, by SeedFilterOnce. Registered as a common computation; every output port and OdeFcn call it.

UpdateVelocity()

void Crowfoot::UpdateVelocity

(

const double

T

)

Divides the change in the solved position since the previous accepted step by the length of that step, and stores the result for the "ExternalVel" output port. The first accepted step has no predecessor, so the velocity is left at zero until a positive time interval is available.

Parameters

[in]

T

-> Current simulation time

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

• webfhsim/reloadrepos/fhsim_fishery/src/trawl/Crowfoot.h