Inheritance diagram for RbCable::Cable6Dof:

Collaboration diagram for RbCable::Cable6Dof:

Public Member Functions
	Cable6Dof (const std::string &simObjectName, ISimObjectCreator *const creator)
	reads parameters, registers states, output and intput ports.

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)

void	FinalSetup (const double T, const double const X, ISimObjectCreator const creator) override
	Takes the Environment (MARE-0315).

void	PreOdeFcn (const double T, const double *const X) override
	Takes the other objects' wakes at the element centres, or with the Gauss-point drag at the joints, for the step (MARE-0223, MARE-0396).

const double *	forceA (const double T, const double *const X)

const double *	forceB (const double T, const double *const X)

void	calculations (const double T, const double *const X)

void	BuildJoints (const double *const X)
	Finds the joints of the chain of elements from the state; the axis of an element is its quaternion's, as in `calculations`.

void	calculationsCommon (const double T, const double *const X) const

Protected Attributes
int	m_numElements

double	m_totalLength

double	m_radius

double	m_alpha

double	m_beta

double	m_epsilon

double	m_weight

double	m_rho

double	m_rhoWater

PrintDuringExec *	m_print = nullptr
	The shared printer for run errors; null if the creator has none, as in a unit test.

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

bool	m_gaussPointDrag = true
	Gauss-point drag with the water at the joints (MARE-0396).

wet_cylinder_water::ChainJoints	m_joints
	The joints of the chain of elements, and the water at them; buffers kept from call to call.

double	m_Ct

double	m_Cn

double	m_L

double	m_M

double	m_Ixy

double	m_Iz

mat3	m_baseM

element *	m_el

ISignalPort *	m_posA

ISignalPort *	m_posB

ISignalPort *	m_velA

ISignalPort *	m_velB

ICommonComputation *	m_calcDynamics

Eigen::Matrix< double, Eigen::Dynamic, 1 >	m_lambda

Eigen::Matrix< double, Eigen::Dynamic, 1 >	m_F

double	m_forceA [3]

double	m_forceB [3]

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

Classes

Public Member Functions