Cable branched attractor

Class containing a cable object with the ability to be branched.

Collaboration diagram for Cable branched attractor:

Author

Karl-Johan Reite

Date

24.07.2007 KJR: Initial version.

   Simulates a cable object which is a collection of cable sections, which

again are collections of one or more cable elements. The main properties of this class are an arbitrary number of cable sections, connected by an arbitrary number of nodes, with an arbitrary number of external connections. The external connections are nodes where the position and velocity is governed by the input ports. The node numbers of these must be the lowest one, starting from zero and going up to the number of external nodes minus one.

Full example file

FORMAT ILLUSTRATION, NOT A VALIDATED SEINE SCENARIO. The example wires a Y-shaped cable (two warps from the vessel fastenings to a net node, a bridle from there to a fixed net centre) into the objects of SeineOperation.xml; its geometry values are placeholders, not a calibrated seine. AttractorName must equal AttractorNameWarp of Seine/Vessel and AttractorNameWarps of Seine/Operation. The example is a copy of the regression input tests/in/SeineCable/SeineCable_in.xml.

<!--
   FORMAT ILLUSTRATION, NOT A VALIDATED SEINE SCENARIO.
 
   Shows how a Seine/Cable is wired into the Danish-seining objects of SeineOperation.xml:
   its BranchedCable geometry file (SeineCableGeometry.xml, Y topology: two warps from the
   vessel fastenings to a net node, and a bridle from there to the net centre), the vessel
   fastenings driving the warp ends, and the warp attractor shared by name. The geometry
   values are placeholders chosen by the model owner, not a calibrated seine (FISH-0017).
 
   The attractor name is one string under three parameter names: Seine/Vessel publishes
   it as AttractorNameWarp, Seine/Operation reads it as AttractorNameWarps, and the
   Seine/Cable reads it as AttractorName.
 
   The net centre is held still at a constant position; nothing here models the net.
-->
<Contents>
   <OBJECTS>
      <Lib
         LibName                   = "environment"
         SimObject                 = "Environment"
         Name                      = "Env"
         Waves.Model               = "Component"
         Waves.NumWaves            = "0"
         Bathymetry.Depth          = "190"
         Current.Model             = "Constant"
         Current.Vector            = "0,0,0"
      />
      <Lib
         LibName                   = "fishery"
         SimObject                 = "Seine/Vessel"
         Name                      = "V"
         Length                    = "70"
         Breadth                   = "14"
         Draught                   = "7"
         NumWarps                  = "2"
         ApSpeed                   = "0.1"
         InitialSpeed              = "2"
         InitialHeading            = "0"
         AttractorNameNet          = "NetBin"
         AttractorNameWarp         = "WarpAttr"
      />
      <Lib
         LibName                   = "fishery"
         SimObject                 = "Seine/Operation"
         Name                      = "Op"
         WarpLength                = "500"
         MinWarpLength             = "60"
         WinchHaulSpeed            = "0.5"
         SetSpeed                  = "4.0"
         InitialSpeed              = "4.0"
         TowSpeed                  = "2.0"
         HaulSpeed                 = "0.5"
         FinishedSpeed             = "0.5"
         SpreadAngle               = "60"
         InitialHeading            = "0"
         TowHeading                = "0"
         AddedTrackLength          = "50"
         TensionFilterConstant     = "0.001"
         AttractorNameNet          = "NetBin"
         AttractorNameWarps        = "WarpAttr"
      />
      <Lib
         LibName                   = "fishery"
         SimObject                 = "Seine/Buoy"
         Name                      = "B"
      />
      <Lib
         LibName                   = "fishery"
         SimObject                 = "Seine/Cable"
         Name                      = "C"
         File                      = "../examples/input/fishery/SeineCableGeometry.xml"
         AttractorName             = "WarpAttr"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
         B.Pos1             = "10, 0, 0"
         B.Vel1             = "1, 0, 0"
         B.Pos2             = "-10, 0, 0"
         B.Vel2             = "-1, 0, 0"
         B.Connected        = "Op.WarpConnectedVessel"
 
         Op.NetPWingPos     = "-50, -25, -10"
         Op.NetSWingPos     = "-50, 25, -10"
         Op.NetVel          = "1, 0, 0"
         Op.PBridlePos      = "-30, -15, -10"
         Op.SBridlePos      = "-30, 15, -10"
         Op.PBridleTension  = "20000"
         Op.SBridleTension  = "20000"
         Op.VesselPos       = "V.Pos"
 
         V.Heading          = "Op.VesselHeading"
         V.Vel              = "Op.VesselSpeed"
 
         C.Pos1             = "V.WarpPos1"
         C.Vel1             = "V.WarpVel1"
         C.Pos2             = "V.WarpPos2"
         C.Vel2             = "V.WarpVel2"
         C.Pos3             = "-285, 0, 10"
         C.Vel3             = "0, 0, 0"
         C.Length1          = "Op.PWarpLength"
         C.Length2          = "Op.SWarpLength"
         C.Length3          = "50"
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
         V.Pos     = "0,0"
         V.Heading = "0"
         C.Pos_4   = "-235, 0, 10"
         C.Vel_4   = "0, 0, 0"
      />
   </INITIALIZATION>
 
   <SIMULATION>
      <Timing TStart="0" TEnd="60"/>
      <Integrator Method="RK45_i" NumCores="1">
        <StepControl StepMax="0.05" StepMin="1e-8" AbsTol="1e-3" RelTol="1e-3"/>
      </Integrator>
   </SIMULATION>
 
   <OBSERVERS>
      <!-- The first output time is 1, where the baseline starts; Op.BuoyPos is zero until the first step latches it (FISH-0024). -->
      <FileOutput
         TOutput = "1:1:60"
         Select  = "objects:all"/>
   </OBSERVERS>
</Contents>

This SimObject is referred to as Seine/Cable