6 DOF cable

Class containing a cable with six degrees of freedom.

Collaboration diagram for 6 DOF cable:

Author

Jørgen Haavind Jensen

Date

21.06.2011 JHJ: Initial version.

Example configuration excerpt

<Lib
  LibName            = "marine_elements"
  SimObject          = "RbCable/6DofCable"
  Name               = "C"
  Length             = "20"
  numElements        = "7"
  Alpha              = "1.0"
      Beta               = "1.0"
      Epsilon            = "0.0001"
      Weight             = "200"
      Radius             = "0.01"
      Damping_Tangential = "0.01"
      Damping_Normal     = "1.2"
/>

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
Length	1	Length of cable
numElements	1	Number of internal mass elements.
Alpha	1	...
Beta	1	...
Epsilon	1	...
Weight	1	Weight of the cable.
Radius	1	Radius of the cable.
Damping_Tangential	1	Tangential damping coefficient.
Damping_Normal	1	Normal damping coefficient.

Initial conditions

Name	Width	Description
pos<i>	3	Position of point \(i \in {0\cdots\text{numElements}-1}\).
vel<i>	3	Velocity of point \(i \in {0\cdots\text{numElements}-1}\).
theta<i>	4	Orientation in quaternion of point \(i \in {0\cdots\text{numElements}-1}\)..
omega<i>	3	Angular velocity in rad per second of point \(i \in {0\cdots\text{numElements}-1}\)..

Full example file