Inheritance diagram for ToTrawlDoor:

Collaboration diagram for ToTrawlDoor:

Public Member Functions
	ToTrawlDoor (std::string simObjectName, ISimObjectCreator *creator)
	The constructor sets the pointer to the output object and the parser object.

const double *	OutRoll (const double dT, const double *const adX)
	Output port returning the roll angle of the trawl door.

const double *	OutPitch (const double dT, const double *const adX)

const double *	OutAngleOfAttack (const double dT, const double *const adX)

const double *	OutHydroLoad (const double dT, const double *const adX)
	Output port returning the hydrodynamic load on the door: NED force then NED moment about the door origin.

const double *	OutSeabedLoad (const double dT, const double *const adX)
	Output port returning the seabed load on the door: NED force then NED moment about the door origin.

Public Member Functions inherited from TrawlDoorBase
	TrawlDoorBase (std::string simObjectName, ISimObjectCreator *creator)
	The constructor sets the pointer to the output object and the parser object.

virtual void	OdeFcn (const double dT, const double const adX, double const adXDot) const override
	Calculates the state derivatives.

void	PreOdeFcn (double T, const double *X) override
	Rebuilds the door's wake when due (`CastWake`) and takes the other objects' wakes at the door.

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

Protected Member Functions
void	FinalSetup (const double dT, const double const adX, ISimObjectCreator const creator)
	Resolves the SeafloorForces resource after the base class has resolved the environment.

void	AddBottomForces (const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const override
	Adds the seabed load of the evaluator to the trawl door, in the body frame.

environment::seabed::ContactLoad< double >	SeabedLoadOf (const hydro_body::FlowFrame &frame) const
	The seabed load of the door in the pose and with the velocity of `frame:` NED, moment about the door origin.

bool	HasJacobians () const override

Protected Member Functions inherited from TrawlDoorBase
void	HydroForceAt (const double *X, const double relVel_n[3], double force_n[3]) const
	plate_door::SteadyLoad at the velocity `relVel_n` relative to the water (NED) and the attitude and rates of the global state `X`; the force in NED.

void	OutOfBoundRotationalDamping (const hydro_body::FlowFrame &frame, double damping[3]) const
	The derivative of the out-of-bound rotational damping moments against the angular rate, at `frame`.

hydro_body::Wrench	SumLoads (double T, const double *X, const hydro_body::FlowFrame &frame, plate_door::Inflow &inflow) const

virtual void	AddExternalForces (double T, const double *X, const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const
	Adds the warp and bridle forces of the input ports at their fastening points.

void	AddInternalForces (double T, const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const
	Adds gravity at COG and the buoyancy of the wet part of the plate (R66, FISH-0092).

hydro_body::Wrench	WaterLoad (double T, const double *X, const hydro_body::FlowFrame &frame) const

plate_door::Inflow	AddHydroForces (const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const

virtual void	AddInflowDependentForces (double T, const double *X, const plate_door::Inflow &inflow, hydro_body::Wrench &wrench) const
	Adds forces that depend on the plate-door `inflow` of this state. The base door has none.

void	AddDampingForces (const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const
	Adds the linear damping, a numerical stabiliser on the door's own velocity and rates (R75, FISH-0091).

virtual void	AddOwnDerivatives (double T, const double X, const plate_door::Inflow &inflow, double XDot) const
	Writes the derivatives of a subclass's own states, after the 13 of m_body. The base door has none.

virtual void	CalcOutput (const double dT, const double *const adX)

void	CalcOutputCommon (const double dT, const double *const adX) const

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

const double *	OutPos1 (const double dT, const double *const adX)

const double *	OutPos3 (const double dT, const double *const adX)

const double *	OutPos2 (const double dT, const double *const adX)

const double *	OutVel1 (const double dT, const double *const adX)

const double *	OutVel3 (const double dT, const double *const adX)

const double *	OutVel2 (const double dT, const double *const adX)

Protected Attributes
ISimObjectCreator *	m_creator = nullptr

environment::SeafloorForcesInterface *	m_seafloorForces = nullptr
	The shared "SeafloorForces", from FinalSetup.

double	m_shoeWidth
	Width of the shoe [m], from ShoeWidth.

double	m_outHydroLoad [6] = {0, 0, 0, 0, 0, 0}
	Output port HydroLoad.

double	m_outSeabedLoad [6] = {0, 0, 0, 0, 0, 0}
	Output port SeabedLoad.

double	m_roll

double	m_pitch

Protected Attributes inherited from TrawlDoorBase
bool	m_isPort
	Is this a port trawl door?

double	m_cOG [3]
	The trawl door center of gravity.

double	m_area
	The trawldoor area.

double	m_height

double	m_length

double	m_aR

double	m_curvature

double	m_mass
	The mass of the object.

double	m_mdCornerPos_body [4][3]

double	m_rhoDoor
	The density of the trawl door material.

plate_door::Door	m_law
	The door's constants for the plate-door law (Area, AR, Rho, IsPort, MaxLiftCoeff, DragCoeffAtMaxLift).

double	m_warpPos_d [3]

double	m_lBPos_d [3]

double	m_uBPos_d [3]

double	m_rhoWater
	The density of the surrounding fluid.

double	m_force_warp [3]
	A pointer to the Warp force.

double	m_force_LB [3]
	A pointer to the force.

double	m_force_UB [3]
	A pointer to the input force.

ICommonComputation *	m_commonCalc
	Calculations necessary for more than one output port.

environment::EnvironmentProvider *	m_environment = nullptr
	m_flow's Environment, from FinalSetup.

DoorCaster	m_caster
	The door for its wake; declared before m_flow, which keeps a pointer to it.

environment::wake::BodyFlowInteraction	m_flow
	The wake the door casts and receives.

ISignalPort *	m_inWarp_F
	The cable length input port.

ISignalPort *	m_inLB_F
	The cable length input port.

ISignalPort *	m_inUB_F
	The cable length input port.

double	m_outPos1 [3]

double	m_outPos3 [3]

double	m_outPos2 [3]

double	m_outVel1 [3]

double	m_outVel3 [3]

double	m_outVel2 [3]

HydroBody	m_body
	The states Pos, Quater, LocalVel and Omega, the inertia (R70) and the derivatives.

unsigned long	m_IStatePos

unsigned long	m_IStateQuater

unsigned long	m_IStateLocalVel

unsigned long	m_IStateOmega

unsigned long	m_IStateHydroForce

double	m_outAlpha

plate_door::Inflow	m_lastInflow {}
	The inflow of the last OdeFcn, for the render only (the billboard label); never read by the dynamics.

Member Function Documentation

◆ AddBottomForces()

void ToTrawlDoor::AddBottomForces	(	const hydro_body::FlowFrame &	frame,
		hydro_body::Wrench &	wrench
	)		const

overrideprotectedvirtual

Reimplemented from TrawlDoorBase.

◆ HasJacobians()

bool ToTrawlDoor::HasJacobians ( ) const

inlineoverrideprotected

Bottom contact forces are not covered by the base-class analytical Jacobian; fall back to numerical finite differences for this class and its subclasses.

Member Data Documentation

◆ m_creator

ISimObjectCreator* ToTrawlDoor::m_creator = nullptr

protected

Kept on purpose, only to report a port read before FinalSetup (FISH-0051, FISH-0130). fhsim's ISimObjectCreator.h says not to store the pointer, because it is one cursor that fhsim moves from SimObject to SimObject. It stays valid here because the assembled model owns both the organizer and the door. Its messages carry the name of the SimObject the cursor points at, which may be the reader, so each message names this door explicitly with GetName().

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

webfhsim/reloadrepos/fhsim_fishery/src/trawl/ToTrawlDoor.h

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AddBottomForces()

◆ HasJacobians()

Member Data Documentation

◆ m_creator