TrawlCable Class Reference

Inheritance diagram for TrawlCable:

Collaboration diagram for TrawlCable:

Public Member Functions
	TrawlCable (const std::string &simObjectName, ISimObjectCreator *const creator)
	~TrawlCable ()
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 (const double T, const double *const X, IStateUpdater *const updater) override
void	Compute (const double T, const double *const X) override
	Runs the owner's main calculation (the solver's dynamics) at T, X.
void	AddDependency (ICommonComputation *dependecy) override
	Adds a joining cable's common computation, which the owner's main calculation runs first.
const trawl_mooring::RigParts &	Rig () const override
	The rig's solver and its shared parts.

Protected Types
enum	Chirality { PORT , STARBOARD }

Protected Member Functions
void	MainCalculations (const double T, const double *const X)
void	MainCalculationsCommon (const double T, const double *const X) const
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)
void	ContactForceCalculationsCommon (const double T, const double *const X) const
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
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.
std::unique_ptr< trawl_mooring::TrawlRig >	m_ownRig
	Relative damping coefficient of contact constraint. 1 is critical damping.
const trawl_mooring::RigParts *	m_rig
	The rig this cable's elements are on: its own, or that of the TrawlCable it joins (set in FinalSetup).
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
std::vector< trawl_mooring::ElementStates >	m_TopWarpElements
std::vector< trawl_mooring::ElementStates >	m_WarpElements
std::vector< trawl_mooring::ElementStates >	m_TopBridleElements
std::vector< trawl_mooring::ElementStates >	m_BottomBridleElements
trawl_mooring::ElementStates	m_TrawlDoorElement
trawl_mooring::ElementStates	m_TrawlDoorWeightElement
trawl_mooring::ElementStates	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 std::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 )

overridevirtual

Implements ITrawlCable.

Compute()

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

overridevirtual

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.

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

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

PreOdeFcn()

void TrawlCable::PreOdeFcn ( const double  T, const double *const  X, IStateUpdater *const  updater  )

override

Casts the wakes of the solver's doors and clump weights (with CastWake) and takes the other objects' wakes at their centres and at the cable elements' centres for the step (MARE-0223). Only the TrawlCable that owns the solver does: the cables that join it add their segments, doors and clump weights to the same environment forces, which this updates once.

Rig()

const trawl_mooring::RigParts & TrawlCable::Rig ( ) const

overridevirtual

Implements ITrawlCable.

Member Data Documentation

m_ownRig

std::unique_ptr<trawl_mooring::TrawlRig> TrawlCable::m_ownRig

protected

Owner only: the solver, its shared parts and the wakes of its doors and clump weights (wake-casting-trawl).

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

• webfhsim/reloadrepos/fhsim_marine_elements/src/trawl_mooring_interaction/TrawlCable.h