Rigid body cable

Rigid body cable.

Collaboration diagram for Rigid body cable:

Author

Jørgen Haavind Jensen

Date

21.06.2011 JHJ: Initial version.

Todo:

Complete documentation of conf. params and check example file.

Example configuration excerpt

<Lib
  LibName          = "marine_elements"
  SimObject        = "RMCable/RBCable"
  Name             = "C"
  numElements      = "7"
  Alpha            = "1.0"
  Beta             = "1.0"
  Epsilon          = "0.0001"
  BendingStiffness = "0"
  LinearDamping    = "0"
/>

Input Ports

Name	Width	Description
posA	3	Position of end point A.
posB	3	Position of end point B.
velA	3	Velocity of end point A.
velB	3	Velocity of end point B.

Output Ports

Name	Width	Description
ForceA	3	The force acting on end point A.
ForceB	3	The force acting on end point B.

Configuration parameters

Name	Width	Description
numElements	1	Number of internal mass elements.
Alpha	1	...
Beta	1	...
Epsilon	1	...
BendingStiffness	1	...
LinearDamping	1	...

Initial conditions

Name	Width	Description
pos[i]	3	Position of point \(i \in {1\cdots\text{numElements}}\).
vel[i]	3	Velocity of point \(i \in {1\cdots\text{numElements}}\).

Full example file

<Contents>
   <OBJECTS>
      <Lib 
         LibName         = "base"
         SimObject       = "DefaultEnvironment"
         Name            = "Environment"
         Seadepth        = "500"
         Density         = "1000"
         CurrentVelocity = "0,0,0"
      />
 
      <Lib
         LibName            = "marine_elements"
         SimObject          = "RbCable/RBCable"
         Name               = "C"
         numElements        = "4"
         Alpha              = "0.9"
         Beta               = "0.9"
         Epsilon            = "1e-6"
         BendingStiffness   = "0"
         LinearDamping      = "0"
      />
   </OBJECTS>
 
   <INTERCONNECTIONS>
      <Connection
         C.posA = "0,1,0"
         C.posB = "0,1,12"
         C.velA = "0,0,0"
         C.velB = "0,0,0"
      />
   </INTERCONNECTIONS>
 
   <INITIALIZATION>
      <InitialCondition
         C.pos0 = "0,1,0"
         C.pos1 = "0,1,1"
         C.pos2 = "0,1,2"
         C.pos3 = "0,1,3"
         C.vel0 = "0,0,0"
         C.vel1 = "0,0,0"
         C.vel2 = "0,0,0"
         C.vel3 = "0,0,0"
      />
   </INITIALIZATION>
 
   <INTEGRATION>
      <Engine
         IntegratorMethod           = "2"
         NumCores                   = "1"
         TOutput                    = "0, 1, 10"
         LogStates                  = "0"
         Stepsize                   = "1e-4"
         HMax                       = "100"
         HMin                       = "1e-6"
         AbsTol                     = "1e-7"
         RelTol                     = "1e-7"
         UseRSSNormInsteadOfInfNorm = "0"
         FileOutput                 = "objects:states"
      />
   </INTEGRATION>
</Contents>