rigidbody::CRigidBody Class Reference

Inheritance diagram for rigidbody::CRigidBody:

Public Member Functions
virtual vec6	GetInternalForces (const vec6 &dX, const vec3 &r, const quat &q, environment::EnvironmentProvider *environment, double time, const double *states)=0
virtual mat64	GetGravityForceDerivative (const quat &q)=0
virtual mat6	GetInertiaMatrix (const vec3 &r, double time, const double *states, environment::EnvironmentProvider *environment)=0
vec13	GetSecondDerivative (const vec3 &r, const quat &q, const vec3 &v, const vec3 w, const vec6 &externalForces, environment::EnvironmentProvider *environment, double time, const double *states)
mat13	GetSecondDerivativeJacobian (const vec3 &r, const quat &q, const vec3 &v, const vec3 &w, const vec6 &externalForces, environment::EnvironmentProvider *environment, double time, const double *states)
void	WriteStateJacobian (const double *X, int positionIndex, int quaterIndex, int velocityIndex, int omegaIndex, const vec6 &externalForces, environment::EnvironmentProvider *environment, double time, double *J, int nStates)

Static Public Member Functions
static vec6	GetCoriolisForce (const vec6 &dX, const mat6 &Inertia)
static mat6	GetCoriolisForceDerivative (const vec6 &dX, const mat6 &Inertia)
	d(GetCoriolisForce)/d(dX) at a fixed inertia matrix, bodylocal.
static mat6	ReorientInertiaTranslateRotate (const mat6 &Inertia, const vec6 &orientation)
static mat3	MakeDyadic (const vec3 &vector)
static mat34	RotationDerivative (const quat &q, const vec3 &x)
static mat34	ConjugateRotationDerivative (const quat &q, const vec3 &x)
static mat3	GetRotation (const vec3 &angle)
static mat6	GetRotation6 (const vec3 &angle)

Member Function Documentation

GetGravityForceDerivative()

virtual mat64 rigidbody::CRigidBody::GetGravityForceDerivative ( const quat &  q )

pure virtual

d(gravity part of GetInternalForces)/dq, over (q.w, q.x, q.y, q.z).

q: global; return: bodylocal. The other internal forces (drag, soil) have no derivative here.

Implemented in rigidbody::CRigidCompositeBody, rigidbody::CRigidCylinder, and rigidbody::CRigidPolyplate.

GetSecondDerivativeJacobian()

mat13 rigidbody::CRigidBody::GetSecondDerivativeJacobian	(	const vec3 &	r,
		const quat &	q,
		const vec3 &	v,
		const vec3 &	w,
		const vec6 &	externalForces,
		environment::EnvironmentProvider *	environment,
		double	time,
		const double *	states
	)

Jacobian of GetSecondDerivative with respect to (r, q, v, w), in the order of its result.

Exact for the kinematics, the quaternion dynamics, the inertia and Coriolis terms, the rotation of externalForces and gravity, also where |q| != 1. It omits the derivatives of the other internal forces (hydrodynamic drag, soil) and of the inertia matrix (added mass through the water density at r): both are held fixed in the body frame. The result is therefore exact only out of the water.

WriteStateJacobian()

void rigidbody::CRigidBody::WriteStateJacobian	(	const double *	X,
		int	positionIndex,
		int	quaterIndex,
		int	velocityIndex,
		int	omegaIndex,
		const vec6 &	externalForces,
		environment::EnvironmentProvider *	environment,
		double	time,
		double *	J,
		int	nStates
	)

Writes GetSecondDerivativeJacobian into the row-major Jacobian J of a SimObject whose state vector X holds r, q, v and w at the given indices (all local to X and J).

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

• webfhsim/reloadrepos/fhsim_base/src/rigidbody/CRigidBody.h