Inheritance diagram for TrawlCable:

Collaboration diagram for TrawlCable:

Classes
struct	element

Public Member Functions
	TrawlCable (const string &simObjectName, ISimObjectCreator *const creator)

	~TrawlCable ()

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

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

void	AddDependency (ICommonComputation *dependecy)

CoRiBoDynamics::ConstraintSolver *	GetConstraintSolver ()

CoRiBoDynamics::TrawlCableCollisionManager *	GetCollisionManager ()
	6dof rigid body constrained dynamic solver

CoRiBoDynamics::TrawlCableJointConstraint *	GetJointConstraint ()
	collision constraints

CoRiBoDynamics::EnvironmentForces *	GetEnvironmentForces ()
	structural joint constraints

double	getRegulatorTimeConstant ()

Protected Types
enum	Chirality { PORT , STARBOARD }

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

void	DistributeCatenary (CoRiBoDynamics::vec3 P1, CoRiBoDynamics::vec3 P2, vector< element > elements, double L, double states, int i1, int i2, ISimObjectCreator creator)

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

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

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

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

void	ContactForceCalculations (const double T, const double *const X)

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

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

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

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

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

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

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

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

Protected Attributes
CEnvironment *	m_environment

Chirality	m_Chirality

double	m_TrawlDoorMass

double	m_TrawlDoorArea

double	m_TrawlDoorLx

double	m_TrawlDoorLy

double	m_TrawlDoorLz

CoRiBoDynamics::vec3	m_TrawlDoorWarpConnection

CoRiBoDynamics::vec3	m_TrawlDoorTopBridleConnection

CoRiBoDynamics::vec3	m_TrawlDoorBottomBridleConnection

double	m_ClumpWeightMass

double	m_ClumpWeightLength

double	m_ClumpWeightRadius

int	m_NumTopWarp

double	m_TopWarpLength

double	m_TopWarpElementLength

int	m_NumWarp

int	m_NumTopBridle
	The number of discrete cable elements in the warp.

int	m_NumBottomBridle
	The number of discrete cable elements in the top bridle.

double	m_WarpDiameter
	The number of discrete cable elements int the lower bridle.

double	m_TopBridleDiameter
	Nominal cable diameter.

double	m_BottomBridleDiameter
	Nominal cable diameter.

double	m_WarpLength
	Nominal cable diameter.

double	m_TopBridleLength
	Warp cable length.

double	m_BottomBridleLength
	Bridle cable length.

double	m_frequencyCoefficient
	Bridle cable length.

double	m_CollisionFrequencyCoefficient
	Frequency response coefficient.

double	m_WarpElementLength
	Frequency response coefficient.

double	m_TopBridleElementLength
	Length of discrete cable elements.

double	m_BottomBridleElementLength
	Length of discrete cable elements.

double	m_collisionDampingFactor
	Length of discrete cable elements.

CoRiBoDynamics::ConstraintSolver *	m_ConstraintSolver
	Relative damping coefficient of contact constraint. 1 is critical damping.

CoRiBoDynamics::TrawlCableCollisionManager *	m_CollisionManager
	6dof rigid body constrained dynamic solver

CoRiBoDynamics::TrawlCableJointConstraint *	m_JointConstraint
	collision constraints

CoRiBoDynamics::EnvironmentForces *	m_environmentForces
	structural joint constraints

std::set< ICommonComputation * >	m_ExternalDependencies

ICommonComputation *	m_MainCalculations
	list of all (unique) CommonComputation nodes that have registered external geometry in the cable collision manager

ITrawlCable *	m_ExtTrawlCable

vector< element >	m_TopWarpElements

vector< element >	m_WarpElements

vector< element >	m_TopBridleElements

vector< element >	m_BottomBridleElements

element	m_TrawlDoorElement

element	m_TrawlDoorWeightElement

element	m_ClumpWeightElement

double	m_winchForce [3]

int	m_WinchPointConnectionIndex

double	m_TopBridleEndForce [3]

int	m_TopBridleEndPointConnectionIndex

double	m_BottomBridleEndForce [3]

int	m_BottomBridleEndPointConnectionIndex

ICommonComputation *	m_ContactForceCalculations

double	m_normalForceTrawlDoor [1]

double	m_normalForceClumpWeight [1]

double	m_normalForceTopBridle [3]

double	m_normalForceBottomBridle [3]

double	m_normalForceWarp [3]

ISignalPort *	m_WinchPosition

ISignalPort *	m_WinchVelocity

ISignalPort *	m_TopBridleEndPosition

ISignalPort *	m_TopBridleEndVelocity

ISignalPort *	m_BottomBridleEndPosition

ISignalPort *	m_BottomBridleEndVelocity

Constructor & Destructor Documentation

◆ TrawlCable()

TrawlCable::TrawlCable	(	const string &	simObjectName,
		ISimObjectCreator *const	creator
	)

Reads parameters, registers states, output and input ports. Registers a shared pointer to its own IColliableObject instance as "ICollidableObject_"+simObjectName. Registers a shared pointer to its ConstraintCableInterface as ConstraintCableInterface_"+simObjectName.

◆ ~TrawlCable()

TrawlCable::~TrawlCable ( )

Deletes all dynamically allocated memory

Member Function Documentation

◆ AddDependency()

void TrawlCable::AddDependency ( ICommonComputation * dependecy )

virtual

Implements ITrawlCable.

◆ Compute()

void TrawlCable::Compute	(	const double	T,
		const double *const	X
	)

virtual

Implements ITrawlCable.

◆ FinalSetup()

void TrawlCable::FinalSetup	(	const double	T,
		const double *const	X,
		ISimObjectCreator *const	creator
	)

Retrieves environment pointer. Checks active integrator method. If "Euler1" the ad-hoc symplectic integrator method is activated.

◆ GetCollisionManager()

CoRiBoDynamics::TrawlCableCollisionManager * TrawlCable::GetCollisionManager ( )

virtual

Implements ITrawlCable.

◆ GetConstraintSolver()

CoRiBoDynamics::ConstraintSolver * TrawlCable::GetConstraintSolver ( )

virtual

Implements ITrawlCable.

◆ GetEnvironmentForces()

CoRiBoDynamics::EnvironmentForces * TrawlCable::GetEnvironmentForces ( )

virtual

Implements ITrawlCable.

◆ GetJointConstraint()

CoRiBoDynamics::TrawlCableJointConstraint * TrawlCable::GetJointConstraint ( )

virtual

Implements ITrawlCable.

◆ getRegulatorTimeConstant()

double TrawlCable::getRegulatorTimeConstant ( )

virtual

Implements ITrawlCable.

◆ InitialConditionSetup()

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

Initializes cable elements.

◆ OdeFcn()

void TrawlCable::OdeFcn	(	const double	T,
		const double *const	X,
		double *const	XDot,
		const bool	bIsMajorTimeStep
	)

Call m_MainCalculations shared computation node. Writes all computed derivatives to XDot

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

/update_root/webfhsim/reloadrepos/fhsim_extras/src/trawl_mooring_interaction/TrawlCable.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ TrawlCable()

◆ ~TrawlCable()

Member Function Documentation

◆ AddDependency()

◆ Compute()

◆ FinalSetup()

◆ GetCollisionManager()

◆ GetConstraintSolver()

◆ GetEnvironmentForces()

◆ GetJointConstraint()

◆ getRegulatorTimeConstant()

◆ InitialConditionSetup()

◆ OdeFcn()