Inheritance diagram for CableBranched:

Collaboration diagram for CableBranched:

Public Types
using	SectionFactory = std::function< std::unique_ptr< InternalCable >(ISimObjectCreator *creator, const SCableSpec &spec)>

Public Member Functions
	CableBranched (std::string simObjectName, ISimObjectCreator *creator)
	Cable/Branched: reads the file and makes every section an InternalCableWithBottomContact.

	~CableBranched ()
	The destructor deletes dynamically allocated memory.

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const

void	PreOdeFcn (double T, const double *X) override
	Applies the Length inputs and advances the sections' mean tension from the step's start state (MARE-0357).

bool	HasJacobians () const override

void	OdeJacobian (double T, const double X, double J, int nStates) override
	Writes nothing while HasJacobians() is false (FhSim's Jacobian checker, E12-Q3).

int	GetJacobianSparsity (int nStates, int rowPtr, int colIdx) override

void	FinalSetup (const double dT, const double const adX, ISimObjectCreator const creator)

void	InitialConditionSetup (const double dT, const double const adCurrentIC, double const adUpdatedIC, ISimObjectCreator *const creator)

Protected Member Functions
	CableBranched (std::string simObjectName, ISimObjectCreator *creator, const SectionFactory &makeSection)
	A subclass's sections: reads the file as Cable/Branched does and makes each section with makeSection.

virtual void	AddJunctionNodeForce (const double[3], const double[3], double[3]) const

void	MarkForceOutsideJacobian () const

void	CreateStates (ISimObjectCreator *creator)

void	CalcOutput (const double dT, const double *const adX) const

void	UpdateSectionLength (int element, double dT, const double *adX) const
	Reads the Length input of a cable section and applies it to the section (MARE-0037).

virtual void	PrepareSections (double, const double *) const

void	OutputExternalConnForces (double dT, const double *adX)

void	GetPosAndVelPointer (int node, double dT, const double const adX, const double const padPos, const double *const padVel) const

const double *	GetPosPointer (int node, double dT, const double *const adX) const

virtual void	AddBottomForces (double dT, const double *const adX) const
	Adds the bottom forces to the main nodes, and marks the state (MarkForceOutsideJacobian) if any of them got one.

virtual void	CreateDataStructures ()

virtual void	CreateInputports (ISimObjectCreator *creator)

virtual void	CreateOutputports (ISimObjectCreator *creator)

void	CheckNodeNumber (int nodeNumber, std::string nodeDescription, ISimObjectCreator *creator)
	Checks to see if a specified nodenumber is ok.

const double *	ExternalForce (const double dT, const double *const adX, int i)

const double *	ExternalTension (const double dT, const double *const adX, int i)

const double *	SectionLength (const double dT, const double *const adX, int i)

int	LocalIndex (int globalStateIndex) const

Protected Attributes
ISignalPort **	m_inVel
	The velocity input port s.

ISignalPort **	m_inPos
	The position input ports.

ISignalPort **	m_inLength
	The cable sections length port.

ICommonComputation *	m_commonCalc
	Calculations necessary for more than one output port.

int *	m_iStatePos
	An array of indices to the node position states.

int *	m_iStateVel
	An array of indices to the node velocity states.

int *	m_iStateCable
	An array of indices to the cable sections states.

int	m_iStateBase = 0
	Global index of this SimObject's first state, set in CreateStates().

bool	m_forceOutsideJacobian = false
	Whether the last OdeFcn state had a force OdeJacobian does not model: bottom contact (FISH-0086) or a subclass's own force.

int	m_numElements
	The number of elements to divide the cable into.

int	m_numNodesCalc
	The number of nodes of the cable between the cable elements.

int	m_numCableSections
	The number of cable sections in the branched cable, where each section may be comprised of one or more elements.

int	m_numNodesGlobal
	The number of nodes of the branched cable used for conecting the internal cable sections.

int	m_numExternalConn
	The number of external connections.

int *	m_nodeConnections
	The nodes connected to each cable section.

int	m_cableFaces
	The number of faces of the cable visuaization.

double	m_stepSafetyFactor
	The safety factor when calculating the Young modulus of the element.

double	m_eAdaptationPeriod
	The time constant of the adaptation of the mean tension.

double	m_numericalDamping
	The numerical damping of the cable.

double	m_maxStep
	The maximum steplength of the simulation.

double *	m_meanTension
	The mean tension of the cable.

double *	m_stiffness
	The linear stiffness of the cable.

double *	m_relaxedLength
	The relaxed length of the cable.

double *	m_relaxedLength_d
	The desired relaxed length of the cable.

double	m_maxLengthChangeSpeed
	The maximum speed of the cable length change.

double	m_bottomContactDiameter = 0.5
	`BottomContactDiameter` of the General section: the sphere of each main node in the seabed contact [m].

double *	m_dampingRatio
	The damping ratio to specify the internal damping.

double *	m_density
	The density of the cable material.

double *	m_dE
	The stiffness of the cable material.

double *	m_diameter
	The diameter of the cable.

double *	m_maxTension
	The maximum tension in the cable.

double *	m_nodeInertia
	The inertia of the calculation nodes belonging to this simObject.

double *	m_nodeForce
	The force on the calculation nodes belonging to this simObject, as OdeFcn found it.

double *	m_outNodeForce = nullptr
	As m_nodeForce, as CalcOutput found it for the Force and Tension ports.

double *	m_outNodeInertia = nullptr
	As m_nodeInertia, as CalcOutput found it.

std::mutex	m_sectionMutex

double *	m_lengths
	The lengths of the cable elements.

double *	m_outLengths = nullptr
	As m_lengths, as CalcOutput found it for the Length ports.

std::string	m_materialName
	The material name of the cable;.

double	m_drawScale
	The scale for which to draw the cable diameter.

double *	m_externalTensions

InternalCable **	m_cableSections
	An array holding the cable sections.

const double *	m_padVelWater

environment::EnvironmentProvider *	m_environment

environment::SeafloorForcesInterface *	m_seafloor

Member Typedef Documentation

◆ SectionFactory

using CableBranched::SectionFactory = std::function<std::unique_ptr<InternalCable>(ISimObjectCreator* creator, const SCableSpec& spec)>

Makes one section of a branched cable from its spec as read from the file; the cable owns it. It runs inside the constructor, before a subclass exists: it may use only what it captured.

Member Function Documentation

◆ AddJunctionNodeForce()

virtual void CableBranched::AddJunctionNodeForce	(	const double	[3],
		const double	[3],
		double	[3]
	)		const

inlineprotectedvirtual

A subclass's own force on one junction node (a node of the branched cable with states, not an external connection) at position pos and velocity vel, added to force, the node's force so far. OdeFcn calls it for every junction node, in node order, after the sections' end forces and the bottom forces and before the derivatives; under m_sectionMutex, after PrepareSections(dT, adX). A force OdeJacobian does not model must call MarkForceOutsideJacobian(). Does nothing here.

Reimplemented in CableBranchedAttractor.

◆ LocalIndex()

int CableBranched::LocalIndex ( int globalStateIndex ) const

inlineprotected

Convert a model-global state index, as AddState returned it, to an index into the local state slice and Jacobian block that the Jacobian callbacks are handed.

Parameters

[in] globalStateIndex A value from m_iStateCable, m_iStatePos or m_iStateVel.

Returns: The same state's index counted from this SimObject's first state.

◆ MarkForceOutsideJacobian()

void CableBranched::MarkForceOutsideJacobian ( ) const

inlineprotected

Marks the current OdeFcn state as having a force OdeJacobian does not model: HasJacobians() is false until the next OdeFcn finds none. AddBottomForces and the sections' reports use it too (FISH-0086).

◆ PrepareSections()

virtual void CableBranched::PrepareSections	(	double	,
		const double *
	)		const

inlineprotectedvirtual

Prepares the cable sections for an evaluation at (dT, adX), adX the model-global states. OdeFcn and CalcOutput call it under m_sectionMutex before they evaluate the sections; a subclass whose sections take other inputs at (T, X) sets them here. Does nothing here.

Reimplemented in CableBranchedAttractor.

Member Data Documentation

◆ m_sectionMutex

std::mutex CableBranched::m_sectionMutex

mutableprotected

OdeFcn and CalcOutput share the cable sections' scratch (lengths, directions): with NumCores > 1 another object's OdeFcn reads a Force port, so CalcOutput, while this one's OdeFcn runs. Each takes this lock; each writes its own node arrays, so a port keeps its value while OdeFcn runs.

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

webfhsim/reloadrepos/fhsim_marine_elements/src/cable/CableBranched.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes