FhSim  3.1.0
Marine systems simulation
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Public Member Functions | Protected Attributes | List of all members
rigidbody::CRigidCylinder Class Reference
+ Inheritance diagram for rigidbody::CRigidCylinder:
+ Collaboration diagram for rigidbody::CRigidCylinder:

Public Member Functions

 CRigidCylinder (double innerRadius, double outerRadius, double height, double mass, CylinderEnd end, const std::string &material)
 
mat6 GetInertiaMatrix (const vec3 &r, double time, const double *states, environment::EnvironmentProvider *environment)
 
vec6 GetInternalForces (const vec6 &dX, const vec3 &r, const quat &q, environment::EnvironmentProvider *environment, double time, const double *states)
 
mat64 GetGravityForceDerivative (const quat &q)
 
- Public Member Functions inherited from rigidbody::CRigidBody
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)
 

Protected Attributes

double iR
 
double oR
 
double h
 
double m
 
double V
 
CylinderEnd endType
 
std::string m_material
 

Additional Inherited Members

- Static Public Member Functions inherited from rigidbody::CRigidBody
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()

mat64 rigidbody::CRigidCylinder::GetGravityForceDerivative ( const quat &  q)
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.

Implements rigidbody::CRigidBody.

◆ GetInertiaMatrix()

mat6 rigidbody::CRigidCylinder::GetInertiaMatrix ( const vec3 &  r,
double  time,
const double *  states,
environment::EnvironmentProvider *  environment 
)
virtual

Implements rigidbody::CRigidBody.

◆ GetInternalForces()

vec6 rigidbody::CRigidCylinder::GetInternalForces ( const vec6 &  dX,
const vec3 &  r,
const quat &  q,
environment::EnvironmentProvider *  environment,
double  time,
const double *  states 
)
virtual

Implements rigidbody::CRigidBody.

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