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.

virtual	~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.

bool	HasForceOutsideJacobian () const

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

double	EndInertia (int end) const

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)
	Sets the unstretched length of the cable, divided equally between its elements.

void	AdvanceMeanTension (const double adPosA, const double adPosB, const double *adX, double T)

void	TakeWakes (const double adPosA, const double adPosB, const double *adX, double T)

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

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

void	MarkForceOutsideJacobian () const

void	AddBareElementForce (int cableElement, const double posA[3], const double velA[3], const double posB[3], const double velB[3], const double waterVel[3], double forceA[3], double forceB[3]) const

double	NodeInertia (unsigned long node) const

bool	SegmentEndBlocks (unsigned long segment, const double posA, const double velA, const double posB, const double velB, const double *X, double dFA_dposB[9], double dFA_dvelA[9]) const

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.

double	m_meanTensionTime = std::numeric_limits<double>::quiet_NaN()
	The time of the last AdvanceMeanTension.

CableElDynStiff **	m_cableElements
	An array holding the cable elements.

double **	m_aadForceA
	The force on the A nodes.

double **	m_aadForceB
	The force on the B nodes.

environment::wake::ElementFlowInteraction	m_flow
	The flow at the element midpoints, the other objects' wakes taken per step (MARE-0223); the Environment, from FinalSetup.

environment::EnvironmentProvider *	m_environment = nullptr
	m_flow's Environment, from FinalSetup; null before it and without one (fhsim_fishery's tests set it by hand).

double	m_elVelWater [3]

double	m_elMeanPos [3]

double	m_elMeanVel [3]

Member Function Documentation

◆ AddBareElementForce()

void InternalCable::AddBareElementForce	(	int	cableElement,
		const double	posA[3],
		const double	velA[3],
		const double	posB[3],
		const double	velB[3],
		const double	waterVel[3],
		double	forceA[3],
		double	forceB[3]
	)		const

protected

Adds element cableElement's own force at the given end states to forceA and forceB: structure, weight and buoyancy, drag and added mass relative to waterVel, at the section's FluidRho. The element alone: no environment lookup, no surface, no seabed. For a subclass that adds a second element force (fhsim_fishery's net bin, FISH-0098).

◆ AddElementForce()

virtual void InternalCable::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

protectedvirtual

Reimplemented in InternalCableWithAttractor.

◆ 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

posA	Position of cable endpoint A.
velA	Velocity of cable endpoint A.
posB	Position of cable endpoint B.
velB	Velocity of cable endpoint B.
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).
X	Local state slice (adX + stateOffset from the SimObject's perspective).
J	Row-major Jacobian matrix (nStates x nStates), accumulated into.
nStates	Total state count for this SimObject.
stateOffset	Offset of this cable's states within the SimObject's state vector.

◆ AddNodeForce()

virtual void InternalCable::AddNodeForce	(	const double	[3],
		const double	[3],
		double	[3]
	)		const

inlineprotectedvirtual

A subclass's own force on one internal node at position pos and velocity vel, added to force, the node's force from its two elements. OdeFcn calls it for every internal node, in node order, after AddAllElementForces and before CalcDerivatives. A force ComputeStructuralJacobian does not model must call MarkForceOutsideJacobian(). Does nothing here.

Reimplemented in InternalCableWithAttractor.

◆ AdvanceMeanTension()

void InternalCable::AdvanceMeanTension	(	const double *	adPosA,
		const double *	adPosB,
		const double *	adX,
		double	T
	)

Advances the elements' dynamic-stiffness mean tension once per integrator step (owner ruling R64, MARE-0357): the owner calls this from PreOdeFcn with the step's start state, and OdeFcn and the port calculations only read it. A second call at the same or an earlier time does nothing (MARE-0330).

Parameters

adPosA	The position of end A [m].
adPosB	The position of end B [m].
adX	The states of this cable.
T	The time of the step start [s].

◆ 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), the wave excitation (R104). stateOffset: byte offset of this cable's states within the SimObject's global state vector.

◆ EndInertia()

double InternalCable::EndInertia ( int end ) const

The inertia this cable gives end A or B (0 or 1): the end element's share of its mass, at the state the elements were last evaluated at.

◆ EvaluateElementsAt()

void InternalCable::EvaluateElementsAt	(	const double *	adPosA,
		const double *	adVelA,
		const double *	adPosB,
		const double *	adVelB,
		const double *	adX,
		double	dT
	)		const

Evaluates the elements at a state as OdeFcn does, without the derivatives, so that the masses the Jacobian divides by are those of that state (MARE-0359). Call it before ComputeStructuralJacobian.

Parameters

adPosA	The position of end A.
adVelA	The velocity of end A.
adPosB	The position of end B.
adVelB	The velocity of end B.
adX	The states of this cable.
dT	The time [s].

◆ HasForceOutsideJacobian()

bool InternalCable::HasForceOutsideJacobian ( ) const

inline

Whether the last OdeFcn added a force ComputeStructuralJacobian does not model (bottom contact, FISH-0086; a subclass's own force).

◆ MarkForceOutsideJacobian()

void InternalCable::MarkForceOutsideJacobian ( ) const

inlineprotected

Marks the current OdeFcn state as having a force ComputeStructuralJacobian does not model; InternalCable::OdeFcn clears it first.

◆ NodeInertia()

double InternalCable::NodeInertia ( unsigned long node ) const

protected

The inertia of internal node node: its share of the masses of its two elements, at the state the elements were last evaluated at (MARE-0325).

◆ SegmentEndBlocks()

bool InternalCable::SegmentEndBlocks	(	unsigned long	segment,
		const double *	posA,
		const double *	velA,
		const double *	posB,
		const double *	velB,
		const double *	X,
		double	dFA_dposB[9],
		double	dFA_dvelA[9]
	)		const

protected

The structural end blocks of one segment, dF_A/dposB and dF_A/dvelA (3x3 row-major, from the axial law, cable_axial_law::EndBlocks); false where the segment adds nothing (no tension). Shared by ComputeStructuralJacobian and AddEndpointJacobianContributions.

◆ TakeWakes()

void InternalCable::TakeWakes	(	const double *	adPosA,
		const double *	adPosB,
		const double *	adX,
		double	T
	)

Takes the other objects' wakes at the element midpoints for the step (MARE-0223, owner ruling R-c): the owner calls this from PreOdeFcn with the step's start state; the element forces of the step read the held composition, applied to the live current at the element's position in each evaluation (fhsim_environment's ElementFlowInteraction, ExternalWakeUpdate). Does nothing without an environment.

Parameters

adPosA	The position of end A [m].
adPosB	The position of end B [m].
adX	The states of this cable.
T	The time of the step start [s].

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

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AddBareElementForce()

◆ AddElementForce()

◆ AddEndpointJacobianContributions()

◆ AddNodeForce()

◆ AdvanceMeanTension()

◆ ComputeStructuralJacobian()

◆ EndInertia()

◆ EvaluateElementsAt()

◆ HasForceOutsideJacobian()

◆ MarkForceOutsideJacobian()

◆ NodeInertia()

◆ SegmentEndBlocks()

◆ TakeWakes()