NetStructure Class Reference

Inheritance diagram for NetStructure:

Collaboration diagram for NetStructure:

Public Member Functions
	NetStructure (std::string simObjectName, ISimObjectCreator *creator)
	The constructor sets the pointer to the output object and the parser object.
virtual	~NetStructure ()
	The destructor deletes dynamically allocated memory.
virtual void	OdeFcn (const double dT, const double *const adX, double *const adXDot) const
virtual void	InitialConditionSetup (const double dT, const double *const adCurrentIC, double *const adUpdatedIC, ISimObjectCreator *const creator)
virtual void	FinalSetup (const double dT, const double *const adX, ISimObjectCreator *const creator)
const double *	outExternalNodeForce (const double dT, const double *const adX, int extNode)
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
bool	HasPortJacobians () const override
void	InputPortJacobian (const std::string &portName, double T, const double *X, double *dF_dInput, int portSize, int nStates) override
virtual const double *	NodePos (const double dT, const double *const adX, int extNode)
virtual const double *	NodeVel (const double dT, const double *const adX, int extNode)
virtual const double *	BottomContact (const double dT, const double *const adX)
virtual const double *	StrainEnergy (const double dT, const double *const adX)
virtual const double *	VelNorm (const double dT, const double *const adX)
void	SetAddedDragPerMPS (double AddedDragPerMPS)

Public Attributes
double	m_velNorm

Protected Member Functions
virtual void	CalcStateDerivatives (const double *const adX, double *const adXDot) const
virtual void	AddExternalForces (const double dT, const double *const adX) const
virtual void	AddNetForces (const double dT, const double *const adX) const
virtual void	AddCableForces (const double dT, const double *const adX) const
virtual double	AddNodeBottomForce (const double *const adX, int node, double diam, double adForceInOut[3]) const
virtual void	AddBottomForces (const double *const adX) const
virtual void	AddInputPorts (ISimObjectCreator *creator)
virtual void	CreateNetPanels (std::vector< const NetElementDef * > VNetElementDefs, ISimObjectCreator *creator)
virtual void	CreateNetCables (std::vector< const NetCableElementSpec * > VCableElements, ISimObjectCreator *creator)
virtual void	CreateDataStructures ()
virtual void	CreateOutputPorts (ISimObjectCreator *creator)
VSPairStrInt	CreateExternalNodeMap (std::string tag, int *piUsed, NetStructureSpec &NetSpec, ISimObjectCreator *creator)
void	PRINTALLNODEFORCES (std::string spec, double dT)
void	ComputeCableStructuralJacobian (const NetCableElement *cable, const double pA[3], const double pB[3], const double vA[3], const double vB[3], double dFA_dpA[9], double dFA_dpB[9], double dFA_dvA[9], double dFA_dvB[9]) const
void	ComputeCableDragVelocityJacobian (const NetCableElement *cable, const double pA[3], const double pB[3], const double vA[3], const double vB[3], const double vFluid[3], double rhoWater, double dFA_dvA[9], double dFA_dvB[9], double dFB_dvA[9], double dFB_dvB[9]) const
void	ComputeCableDragPositionJacobian (const NetCableElement *cable, const double pA[3], const double pB[3], const double vA[3], const double vB[3], const double vFluid[3], double rhoWater, double dFA_dpA[9], double dFA_dpB[9], double dFB_dpA[9], double dFB_dpB[9]) const
void	ComputePanelJacobianFD (NetElement3N *panel, const double pA[3], const double pB[3], const double pC[3], const double vA[3], const double vB[3], const double vC[3], const double vWater[3], double addedLinearDrag, double dFA_dpA[9], double dFA_dpB[9], double dFA_dpC[9], double dFB_dpA[9], double dFB_dpB[9], double dFB_dpC[9], double dFC_dpA[9], double dFC_dpB[9], double dFC_dpC[9], double dFA_dvA[9], double dFA_dvB[9], double dFA_dvC[9], double dFB_dvA[9], double dFB_dvB[9], double dFB_dvC[9], double dFC_dvA[9], double dFC_dvB[9], double dFC_dvC[9]) const

Protected Attributes
double	m_StrainEnergy
ISignalPort **	m_inExternalForces
	Interface member variables.
int *	m_iStatePos
int *	m_iStateVel
int	m_numNodesInputForce
	Node counts.
int	m_numNodesOutputPosAndVel
int	m_numPanelsCalc
int	m_numCablesCalc
int	m_numNodesOriginal
int	m_numNodesCalc
int	m_numNodeOutputs
NetBottomContactFilter	m_BottomContactFilter
	Environment.
double	m_bottomContact [6]
environment::EnvironmentProvider *	m_environment
environment::SeafloorForcesInterface *	m_seafloor
std::vector< NetCableElement * >	m_VpCableElements
	Element properties.
std::vector< NetElement3N * >	m_VpNetElements
float *	m_inertia
int *	m_netConn
int **	m_aaiCableConn
SAdaptationSpec_t	m_SAdaptations
bool	m_foldingPointRefinementUsed
VSPairStrInt	m_VsNodesOutputPosAndVel
	Nodes reachable directly through input or output ports.
VSPairStrInt	m_VsNodesInputForce
bool	m_useTagForExternalNodes
double *	m_nodeForce
sfh::timers::StopWatch	m_OdeTimer
double *	m_accelerationNorms

Member Function Documentation

ComputeCableDragVelocityJacobian()

void NetStructure::ComputeCableDragVelocityJacobian ( const NetCableElement *  cable, const double  pA[3], const double  pB[3], const double  vA[3], const double  vB[3], const double  vFluid[3], double  rhoWater, double  dFA_dvA[9], double  dFA_dvB[9], double  dFB_dvA[9], double  dFB_dvB[9]  ) const

protected

Computes the 3x3 velocity-block contributions of the cable hydrodynamic drag (tangential + normal) to the forces on end A and end B. The position-block contribution (direction change with x) is omitted; kSaturationSpeed clipping and the rhoWater air/water blending across z=0 are ignored.

ComputeCableStructuralJacobian()

void NetStructure::ComputeCableStructuralJacobian ( const NetCableElement *  cable, const double  pA[3], const double  pB[3], const double  vA[3], const double  vB[3], double  dFA_dpA[9], double  dFA_dpB[9], double  dFA_dvA[9], double  dFA_dvB[9]  ) const

protected

Computes the 3x3 derivative blocks of the force on cable end A (FA = forceAmp * e_AB, with e_AB = (pB-pA)/L) w.r.t. the position and velocity of both ends. The force on end B is FB = -FA so the caller flips signs when assembling node B contributions.

ComputePanelJacobianFD()

void NetStructure::ComputePanelJacobianFD ( NetElement3N *  panel, const double  pA[3], const double  pB[3], const double  pC[3], const double  vA[3], const double  vB[3], const double  vC[3], const double  vWater[3], double  addedLinearDrag, double  dFA_dpA[9], double  dFA_dpB[9], double  dFA_dpC[9], double  dFB_dpA[9], double  dFB_dpB[9], double  dFB_dpC[9], double  dFC_dpA[9], double  dFC_dpB[9], double  dFC_dpC[9], double  dFA_dvA[9], double  dFA_dvB[9], double  dFA_dvC[9], double  dFB_dvA[9], double  dFB_dvB[9], double  dFB_dvC[9], double  dFC_dvA[9], double  dFC_dvB[9], double  dFC_dvC[9]  ) const

protected

Computes the full 18×9 panel Jacobian (forces on A,B,C w.r.t. positions and velocities of A,B,C) using internal forward finite differences on the panel's AddNodeForces function. Each 3×3 output block is row-major.

HasJacobians()

bool NetStructure::HasJacobians ( ) const

override

Analytical Jacobian support. Covers the dominant stiff terms only:

• position->velocity coupling (identity block)
• cable element axial spring + axial damping
• external force input ports (1/inertia mapping) Net panel forces, hydrodynamic drag, bottom contact, gravity/buoyancy, tension saturation and the adaptation/clamp filters are intentionally omitted (zero contribution). Verification tests must use a loose tolerance (~1e-2) and a configuration that exercises only the covered terms (cables in tension, no panels, no seabed contact, no clamps).

OdeFcn()

virtual void NetStructure::OdeFcn ( const double  dT, const double *const  adX, double *const  adXDot  ) const

virtual

Reimplemented in NetWithAttractor.

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

• /update_root/webfhsim/reloadrepos/fhsim_marine_elements/src/net/NetStructure.h