RbCable::JointLaw Struct Reference

#include <CableJointMoment.h>

Static Public Member Functions
static JointLaw	Of (double bendingStiffness, double torsionStiffness, double length, double inertiaBending, double inertiaTwist)

Public Attributes
Eigen::Vector3d	stiffness
	EI, EI, GJ [N m^2].
Eigen::Vector3d	damping
	c_b, c_b, c_t [N m s].

Detailed Description

The stiffness and damping of the joint between two neighbouring elements of RbCable/Cable (MARE-0395), per axis of the first element's frame: x and y bend the joint, z twists it.

Member Function Documentation

Of()

static JointLaw RbCable::JointLaw::Of ( double  bendingStiffness, double  torsionStiffness, double  length, double  inertiaBending, double  inertiaTwist  )

inlinestatic

The law of a cable of elements of the given length and rotational inertia.

Parameters

bendingStiffness	EI [N m^2].
torsionStiffness	GJ [N m^2].
length	The element length l [m].
inertiaBending	The element's inertia about an axis normal to its own [kg m^2].
inertiaTwist	The element's inertia about its own axis [kg m^2].

Returns

stiffness (EI, EI, GJ) and damping 2 zeta sqrt(J K / l) per axis, J the axis' inertia, K its stiffness and zeta kBendingDampingRatio or kTwistDampingRatio: that is the damping ratio of one element turning against a neighbour held still, at the frequency sqrt(K / (l J)).

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

• webfhsim/reloadrepos/fhsim_marine_elements/src/RMCable/CableJointMoment.h