Inheritance diagram for RbCable::Ring:

Collaboration diagram for RbCable::Ring:

Classes
struct	element

Public Member Functions
	Ring (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).

virtual void	GetExternalForces (const double T, const double const X, double m_extlForce, int index)
	get the external forces at element 'index'. Should be overridden by inheriting classes to get forces from their specific connectors

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

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

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

virtual const double *	outConnectorPos (const double T, const double *const X, const int index)

virtual const double *	outConnectorVel (const double T, const double *const X, const int index)

Protected Types
typedef Eigen::Matrix< double, 3, 3 >	mat3

typedef Eigen::Matrix< double, 3, 1 >	vec3

Protected Attributes
int	m_numElements

double	m_totalLength

double	m_radius

double	m_weight

double	m_length

double	m_mass

double	m_Ixy

double	m_Iz

double	m_alphaN

double	m_betaN

double	m_epsilonN

double	m_alphaM

double	m_betaM

double	m_epsilonM

double	m_alphaT

double	m_betaT

double	m_epsilonT

double	m_centrePosInit [3]
	Parameter for describing the initial position of the centre of the ring (not an IC since there is no corresponding state)

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 closed loop of elements, and the water at them; buffers kept from call to call.

double	m_Ct

double	m_Cn

double	m_buoyFactor

bool	m_additionalConnectors
	flag for additional connectors along cable

int	m_numConnectors
	number of additional connectors, if any

int	m_ElementsPerConnector
	number of elements between connectors

ISignalPort **	m_iIForce
	Array of indices to connector forces in input vector.

double	m_extlForce [3]
	Array for holding current value of external force at a given node.

double **	m_aadConnectorPos
	Local array for storing output positions.

double **	m_aadConnectorVel
	Local array for storing output velocities.

double	m_bending_epsilon [3]

element *	m_el

ICommonComputation *	m_calcDynamics

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

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

double	m_forceA [3]

double	m_forceB [3]

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

webfhsim/reloadrepos/fhsim_marine_elements/src/RMCable/Ring.h

Classes

Public Member Functions

Protected Types

Protected Attributes