Inheritance diagram for TrawlDoorBase:

Collaboration diagram for TrawlDoorBase:

Classes
class	DoorCaster

Public Member Functions
	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.

Jacobian support for implicit integration
Partial analytical Jacobian. Covered: the kinematics, complete (BodyKinematics6Dof): pos_dot against the quaternion and localVel, the quaternion's derivative against the quaternion (with the norm correction) and omega localVel linear damping diagonal omega linear damping diagonal, plus the out-of-bound rotational hydrodynamic damping of the plate-door law (plate_door::RateDampingDerivative) at the current alpha and beta the Coriolis-centripetal terms of rigid_body::OmegaTermsWrench (R100, R107), the water velocity held fixed The remaining hydrodynamic force derivatives, gravity orientation and bottom contact are omitted. Subclasses that add bottom contact (e.g. ToTrawlDoor) must override HasJacobians() to return false.
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	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	AddBottomForces (const hydro_body::FlowFrame &frame, hydro_body::Wrench &wrench) const
	Adds the bottom contact. The base door has none.

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
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()

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

inlineprotectedvirtual

Reimplemented in ToTrawlDoor.

◆ AddExternalForces()

virtual void TrawlDoorBase::AddExternalForces	(	double	T,
		const double *	X,
		const hydro_body::FlowFrame &	frame,
		hydro_body::Wrench &	wrench
	)		const

protectedvirtual

Reimplemented in TrawlDoorWarpControl.

◆ AddInflowDependentForces()

virtual void TrawlDoorBase::AddInflowDependentForces	(	double	T,
		const double *	X,
		const plate_door::Inflow &	inflow,
		hydro_body::Wrench &	wrench
	)		const

inlineprotectedvirtual

Reimplemented in TrawlDoorAddedFoil.

◆ AddOwnDerivatives()

virtual void TrawlDoorBase::AddOwnDerivatives	(	double	T,
		const double *	X,
		const plate_door::Inflow &	inflow,
		double *	XDot
	)		const

inlineprotectedvirtual

Reimplemented in TrawlDoorAddedFoil.

◆ SumLoads()

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

protected

The loads of one derivative evaluation at time T and global state X, with the flow frame frame of that state, summed in this order (the order fixes the rounding): AddExternalForces, AddInternalForces, AddHydroForces, AddInflowDependentForces, AddDampingForces, AddBottomForces.

Parameters

[out] inflow The plate-door inflow of the state (plate_door::InflowOf of the relative velocity).

◆ WaterLoad()

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

protected

Adds plate_door::SteadyLoad at the relative velocity and the rates of frame; returns its inflow. The load of the water on the door: the plate-door law (AddHydroForces) plus the loads that depend on its inflow (AddInflowDependentForces), body frame; the gravity, buoyancy, cable, damping and seabed loads are not in it.

Member Data Documentation

◆ m_outAlpha

double TrawlDoorBase::m_outAlpha

protected

Angle of attack recomputed from the sampled (dT, adX) in OutAngleOfAttack, so that the AngleOfAttack output port is a function of its arguments. See FISH-0029.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AddBottomForces()

◆ AddExternalForces()

◆ AddInflowDependentForces()

◆ AddOwnDerivatives()

◆ SumLoads()

◆ WaterLoad()

Member Data Documentation

◆ m_outAlpha