BeamGeometryCuboid Class Reference

A cuboid beam. More...

#include <BeamGeometryCuboid.hpp>

Inherits BeamGeometry.

Public Member Functions
	BeamGeometryCuboid (double dx, double dy, double dz, const std::vector< double > &Exvec, const std::vector< double > &vxvec, const std::vector< double > &rhovec, const rw::math::Transform3D<> &wTb, const rw::math::Vector3D<> &G)
	Constructor for cuboid deformation geometry. More...
virtual double	b0 (const int i) const
	Evaluate the \(b_0\) integral. More...
virtual double	b1 (const int i) const
	Evaluate the \(b_1\) integral. More...
virtual double	c2 (const int i) const
	Evaluate the \( c_2 \) integral. More...
virtual double	c3 (const int i) const
	Evaluate the \( c_3 \) integral. More...
virtual double	c4 (const int i) const
	Evaluate the \( c_4 \) integral. More...
virtual double	B0 (const int i) const
	evaluate the \( B_0 \) constant More...
double	getH (void) const
	Returns the thickness of the beam in the z-direction. More...
double	getK (void) const
	Returns the thickness of the beam in the y-direction. More...
Public Member Functions inherited from BeamGeometry
	BeamGeometry (double L, const std::vector< double > &Exvec, const std::vector< double > &vxvec, const std::vector< double > &rhovec, const rw::math::Transform3D<> &wTb, const rw::math::Vector3D<> &G)
	Constructor for the BeamGeometry class. More...
void	setTransform (const rw::math::Transform3D<> &T)
	Sets the homogeneous transform of the beam. More...
rw::math::Transform3D	getTransform (void) const
	Retrieves the world to beam base transform of the beam. More...
void	setG (const rw::math::Vector3D<> &G)
	sets the directional vector of gravity More...
rw::math::Vector3D	getG (void) const
	retrieves the directional vector of gravity More...
double	Ex (const int i) const
	returns the value of Young's modulus at x = i * h More...
double	vx (const int i) const
	returns the value of Poisson's ratio at x = i * h More...
double	rho (const int i) const
	returns the value of the mass density at x = i * h More...
double	kappa (const int i) const
	returns the kappa coefficient at x = i * h More...
double	g1 (void) const
	returns the x-component of vector of gravity for the current configuration of the beam More...
double	g2 (void) const
	returns the y-component of vector of gravity for the current configuration of the beam More...
double	get_a (void) const
	return left boundary of domain More...
double	get_b (void) const
	return right boundary of domain More...
double	get_h (void) const
	return stepsize More...
double	getL (void) const
	return length of beam More...
int	getM (void) const
	return number of cross sections in beam More...

Friends
std::ostream &	operator<< (std::ostream &out, const BeamGeometryCuboid &obj)
	Outputs cuboid beam to stream. More...

Detailed Description

A cuboid beam.

Implements the BeamGeometry class by the means of analytical integration of a cuboid geometry

Constructor & Destructor Documentation

BeamGeometryCuboid()

BeamGeometryCuboid	(	double	dx,
		double	dy,
		double	dz,
		const std::vector< double > &	Exvec,
		const std::vector< double > &	vxvec,
		const std::vector< double > &	rhovec,
		const rw::math::Transform3D<> &	wTb,
		const rw::math::Vector3D<> &	G
	)

Constructor for cuboid deformation geometry.

Parameters

dx	length in x (L)
dy	length in y
dz	length in z
Exvec	vector of Young's modulus for each cross beam cros section, in MPa
vxvec	vector of Poisson's ratio for each cross beam cros section
rhovec	vector of mass density for each cross beam cros section, in kg/mm^3
wTb	world to base of beam transform
G	vector of gravity, m/s^2

Member Function Documentation

b0()

virtual double b0 ( const int  i ) const

virtual

Evaluate the \(b_0\) integral.

Evaluate the \(b_0\) integral, defined as

\[ b_0 = \int \int_{A(x)} \rho (x, y, z) y^0 dz dy \]

at \(x = i h\)

Parameters

i	index at which to evaluate the integral

Returns

the integral value

Implements BeamGeometry.

B0()

virtual double B0 ( const int  i ) const

virtual

evaluate the \( B_0 \) constant

\[ B_0(x) = B_0^*(L) - B_0^*(x) \]

with

\[ B_0^*(x) = \int_0^x b_0(s) ds \]

Parameters

i	index at which to evaluate the integral

Returns

the constant value

Implements BeamGeometry.

b1()

virtual double b1 ( const int  i ) const

virtual

Evaluate the \(b_1\) integral.

Evaluate the \(b_1\) integral, defined as

\[ b_1 = \int \int_{A(x)} \rho (x, y, z) y^1 dz dy \]

at \(x = i h\)

Parameters

i	index at which to evaluate the integral

Returns

the integral value

Implements BeamGeometry.

c2()

virtual double c2 ( const int  i ) const

virtual

Evaluate the \( c_2 \) integral.

Evaluate the \( c_2 \) integral, defined as

\[ c_2 = \int \int_{A(x)} \frac{K(x,y,z)}{8} y^2 dz dy \]

at \( x = i h \)

Parameters

i	index at which to evaluate the integral

Returns

the integral value

Implements BeamGeometry.

c3()

virtual double c3 ( const int  i ) const

virtual

Evaluate the \( c_3 \) integral.

Evaluate the \( c_3 \) integral, defined as

\[ c_3 = \int \int_{A(x)} \frac{K(x,y,z)}{8} y^3 dz dy \]

at \( x = i h \)

Parameters

i	index at which to evaluate the integral

Returns

the integral value

Implements BeamGeometry.

c4()

virtual double c4 ( const int  i ) const

virtual

Evaluate the \( c_4 \) integral.

Evaluate the \( c_4 \) integral, defined as

\[ c_4 = \int \int_{A(x)} \frac{K(x,y,z)}{8} y^4 dz dy \]

at \( x = i h \)

Parameters

i	index at which to evaluate the integral

Returns

the integral value

Implements BeamGeometry.

getH()

double getH ( void  ) const

inline

Returns the thickness of the beam in the z-direction.

Returns

thickness in z

getK()

double getK ( void  ) const

inline

Returns the thickness of the beam in the y-direction.

Returns

thickness in y

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  out, const BeamGeometryCuboid &  obj  )

friend

Outputs cuboid beam to stream.

Parameters

out
obj

Returns

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

• BeamGeometryCuboid.hpp