FhSim  3.1.0
Marine systems simulation
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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
HydroCable Class Reference
+ Inheritance diagram for HydroCable:
+ Collaboration diagram for HydroCable:

Public Member Functions

 HydroCable (const std::string &simObjectName, ISimObjectCreator *const creator)
 
void OdeFcn (const double T, const double *const X, double *const XDot) const
 
void InitialConditionSetup (const double T, const double *const currentIC, double *const updatedIC, ISimObjectCreator *const creator)
 
bool HasJacobians () const override
 
void OdeJacobian (double T, const double *X, double *J, int nStates) override
 
int GetJacobianSparsity (int nStates, int *rowPtr, int *colIdx) override
 

Protected Member Functions

void SetOutputPortValues (const double T, const double *const X) const
 
Eigen::Vector3d Drag (int k, int l, const double T, const double *const X) const
 
Eigen::Vector3d Spring (int k, int l, const double T, const double *const X) const
 
Eigen::Vector3d Damp (int k, int l, const double T, const double *const X) const
 
void computeSegmentJacobian (const double *pk, const double *pl, const double *vk, const double *vl, double *dF_dpk, double *dF_dpl, double *dF_dvk, double *dF_dvl) const
 
const double * ForceA (const double T, const double *const X)
 
const double * ForceB (const double T, const double *const X)
 
const double * PosA (const double T, const double *const X)
 
const double * PosB (const double T, const double *const X)
 

Protected Attributes

ICommonComputation * m_SetOutputPortValues
 
ISignalPort * m_PositionA
 
ISignalPort * m_PositionB
 
ISignalPort * m_VelocityA
 
ISignalPort * m_VelocityB
 
ISignalPort * m_Current
 
std::vector< int > m_PositionIndex
 
std::vector< int > m_VelocityIndex
 
int m_NumPoints
 
double m_ForceA [3]
 
double m_ForceB [3]
 
double m_PosA [3]
 
double m_PosB [3]
 
double m_ElementMass
 
double m_ElementLength0
 
double m_SpringCoef
 
double m_DamperCoef
 
double m_GravYancy
 
double m_CrossDragCoef
 
double m_AlongDragCoef
 
double m_RhoWater
 
double m_Mass
 
double m_Length
 
double m_Diameter
 
double m_RhoCable
 
double m_Modulus
 

Member Function Documentation

◆ computeSegmentJacobian()

void HydroCable::computeSegmentJacobian ( const double *  pk,
const double *  pl,
const double *  vk,
const double *  vl,
double *  dF_dpk,
double *  dF_dpl,
double *  dF_dvk,
double *  dF_dvl 
) const
protected

Computes [3x3] Jacobian blocks for Spring(k,l) + Damp(k,l). Force convention: force ON node k FROM neighbor l, with d = pl - pk. Drag is excluded (nonlinear Reynolds-dependent, O(1) vs structural O(k/L0)). dF_dpk, dF_dpl, dF_dvk, dF_dvl are row-major [3x3] matrices.

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