Inheritance diagram for InternalCable:

Collaboration diagram for InternalCable:

Public Member Functions
	InternalCable (ISimObjectCreator *creator, const SCableSpec &CableSpec)
	The constructor sets the pointer to the output object and the parser object.

	~InternalCable ()
	The destructor deletes dynamically allocated memory.

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

virtual void	OdeFcn (const double const adPosA, const double const adVelA, const double const adPosB, const double const adVelB, const double const adX, double const adXDot, double dT) const
	Calculates the state derivatives and the end forces.

void	ComputeStructuralJacobian (const double posA, const double velA, const double posB, const double velB, const double X, double J, int nStates, int stateOffset) const

void	AddEndpointJacobianContributions (const double posA, const double velA, const double posB, const double velB, int globalPosIdxA, int globalVelIdxA, int globalPosIdxB, int globalVelIdxB, double endInertiaA, double endInertiaB, const double X, double J, int nStates, int stateOffset) const

virtual bool	InitializeStates (const double const adPosA, const double const adVelA, const double const adPosB, const double const adVelB, double *const adX)
	Method for setting initial conditions when the input is known, which may be implemented in the individual simObjects.

void	UpdateCable (double newLength, double dT)
	Updates the cable for the next step.

void	AddEndForcesAndInertia (double const adEndForceA, double const adEndForceB, double const pdEndInertiaA, double const pdEndInertiaB, const double const adPosA, const double const adVelA, const double const adPosB, const double const adVelB, const double *const adX, double dT)
	Adds the end forces and inertia to the supplied data structures.

double	GetLength ()
	Calculates the length of the cable.

Public Attributes
unsigned long	m_numElements
	The number of elements to divide the cable into.

unsigned long	m_numNodes
	The number of nodes of the cable.

Protected Member Functions
void	ResetAllNodeForces () const

void	AddAllElementForces (const double const adPosA, const double const adVelA, const double const adPosB, const double const adVelB, const double *const adX, double dT) const

void	CalcDerivatives (const double const adX, double const adXDot) const

virtual void	AddElementForce (int cableElement, const double adPosA[3], const double adVelA[3], const double adPosB[3], const double adVelB[3], double adForceA[3], double adForceB[3], double dT) const

void	UpdateInertia ()
	Updates the inertia of the cable according to the changing length.

Protected Attributes
unsigned long *	m_iStatePos
	An array of indices to the node position states.

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

SCableSpec	m_CableSpec
	The cable specification.

double	m_eA
	The stiffness of the cable.

sfh::timers::StopWatch	m_StopWatch

CableElDynStiff **	m_cableElements
	An array holding the cable elements.

double *	m_inertiaA
	The inertia of the A nodes.

double *	m_inertiaB
	The inertia of the B nodes.

double **	m_aadForceA
	The force on the A nodes.

double **	m_aadForceB
	The force on the B nodes.

environment::EnvironmentProvider *	m_environment

double	m_elVelWater [3]

double	m_elMeanPos [3]

double	m_elMeanVel [3]

Member Function Documentation

◆ AddEndpointJacobianContributions()

void InternalCable::AddEndpointJacobianContributions	(	const double *	posA,
		const double *	velA,
		const double *	posB,
		const double *	velB,
		int	globalPosIdxA,
		int	globalVelIdxA,
		int	globalPosIdxB,
		int	globalVelIdxB,
		double	endInertiaA,
		double	endInertiaB,
		const double *	X,
		double *	J,
		int	nStates,
		int	stateOffset
	)		const

Adds Jacobian contributions from boundary segments when endpoints are state variables.

ComputeStructuralJacobian treats posA/posB as frozen (no J entries for them). Call this afterwards when either endpoint belongs to the state vector (junction nodes).

Parameters

globalPosIdxA	Global state index of posA; -1 if posA comes from a port.
globalVelIdxA	Global state index of velA; -1 if velA comes from a port.
globalPosIdxB	Global state index of posB; -1 if posB comes from a port.
globalVelIdxB	Global state index of velB; -1 if velB comes from a port.
endInertiaA	Inertia of junction node A (used when globalPosIdxA >= 0).
endInertiaB	Inertia of junction node B (used when globalPosIdxB >= 0).

◆ ComputeStructuralJacobian()

void InternalCable::ComputeStructuralJacobian	(	const double *	posA,
		const double *	velA,
		const double *	posB,
		const double *	velB,
		const double *	X,
		double *	J,
		int	nStates,
		int	stateOffset
	)		const

Computes the structural (spring+damper) contribution to the ODE Jacobian. Fills J (row-major, nStates x nStates) with contributions from all segments. Omitted terms: hydrodynamic drag, gravity/buoyancy (constants). stateOffset: byte offset of this cable's states within the SimObject's global state vector.

◆ OdeFcn()

virtual void InternalCable::OdeFcn	(	const double *const	adPosA,
		const double *const	adVelA,
		const double *const	adPosB,
		const double *const	adVelB,
		const double *const	adX,
		double *const	adXDot,
		double	dT
	)		const

virtual

Reimplemented in InternalCableWithAttractor.

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

/update_root/webfhsim/reloadrepos/fhsim_marine_elements/src/cable/subroutines/InternalCable.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AddEndpointJacobianContributions()

◆ ComputeStructuralJacobian()

◆ OdeFcn()