RobWorkProject: ModRusselBeamBase Class Reference

Base class for implementing Modified Russel beam problems. More...

#include <ModRusselBeamBase.hpp>

Public Member Functions
	ModRusselBeamBase (std::shared_ptr< rwlibs::softbody::BeamGeometry > geomPtr, std::shared_ptr< rwlibs::softbody::BeamObstaclePlane > obstaclePtr, int M)
	Constructor. More...

virtual void	solve (Eigen::VectorXd &xinituser, Eigen::VectorXd &U, Eigen::VectorXd &V)=0

void	integrateAngleU (Eigen::VectorXd &U, const Eigen::VectorXd &avec)
	given a vector of angles, calculates the x-part of the corresponding curve More...

void	integrateAngleV (Eigen::VectorXd &V, const Eigen::VectorXd &avec)
	given a vector of angles, calculates the y-part of the corresponding curve More...

std::vector< int >	getIntegralIndices (void) const
	returns the indices on the beam at which to place integral constraints More...

void	setIntegralIndices (const std::vector< int > &indices)
	sets the integral indices for the beam More...

std::shared_ptr< BeamGeometry >	getGeometry (void) const
	returns the BeamGeometry used by the beam More...

std::shared_ptr< BeamObstaclePlane >	getObstacle (void) const
	returns the BeamObstaclePlane used by the beam More...

int	getM (void) const
	returns number of cross sections in beam More...

double	getAccuracy (void) const
	returns accuracy goal of underlying numerical methods More...

void	setAccuracy (double acc)
	sets accuracy goal of underlying numerical methods More...

rw::math::Transform3D< double >	get_planeTbeam (void) const
	returns the plane to beam transform More...

double	get_thetaTCP (void) const
	returns the angle of the beam base frame wrt. the associated obstacle plane More...

double	get_yTCP (void) const
	returns the height of the beam baseframe over the associated obstacle plane More...

double	get_uxTCPy (void) const
	return the x-component of the y-axis of the beam baseframe, for the current plane to beam transform More...

double	get_uyTCPy (void) const
	return the y-component of the y-axis of the beam baseframe, for the current plane to beam transform More...

double	get_h (void) const
	return the discretization step for the beam cross sections More...

Static Public Member Functions
static std::vector< int >	computeIntegralIndicies (const int nIntegralConstraints, const int N)
	precomputes the indices on the beam at which to place integral constraints More...

static double	get_uxTCPy (const rw::math::Transform3D<> planeTbeam)
	return the x-component of the y-axis of the beam baseframe More...

static double	get_uyTCPy (const rw::math::Transform3D<> planeTbeam)
	return the y-component of the y-axis of the beam baseframe More...

Friends
std::ostream &	operator<< (std::ostream &out, const ModRusselBeamBase &obj)
	outputs a ModRusselBeamBase to stream More...

Detailed Description

Base class for implementing Modified Russel beam problems.

Constructor & Destructor Documentation

◆ ModRusselBeamBase()

ModRusselBeamBase	(	std::shared_ptr< rwlibs::softbody::BeamGeometry >	geomPtr,
		std::shared_ptr< rwlibs::softbody::BeamObstaclePlane >	obstaclePtr,
		int	M
	)

Constructor.

Parameters

geomPtr	pointer to the beam geometry
obstaclePtr	pointer to the obstacle
M	number of slices in the beam

Member Function Documentation

◆ computeIntegralIndicies()

static std::vector<int> computeIntegralIndicies	(	const int	nIntegralConstraints,
		const int	N
	)

static

precomputes the indices on the beam at which to place integral constraints

This function will precompute indices on the beam at which integral constraints are present to check for penetration with the plane. For nIntegralConstraints equal to 1, only the tip at x=L will be tested. For 2 integral constraints, indices equivalent to x=L and x=L/2 will be tested and so forth.

The number of integral constraints is set by the method set_nIntegralConstraints

Bug:: Does not support more than M/2 integral constraints

◆ get_h()

double get_h ( void ) const

return the discretization step for the beam cross sections

Returns: discretization step

◆ get_planeTbeam()

rw::math::Transform3D<double> get_planeTbeam ( void ) const

returns the plane to beam transform

Returns: plane to beam transform

◆ get_thetaTCP()

double get_thetaTCP ( void ) const

returns the angle of the beam base frame wrt. the associated obstacle plane

Returns: angle of beam base in radians

◆ get_uxTCPy() [1/2]

static double get_uxTCPy ( const rw::math::Transform3D<> planeTbeam )

static

return the x-component of the y-axis of the beam baseframe

Parameters

planeTbeam the plane to beam transform to use

Returns: x-component of the y-axis of the beam baseframe

◆ get_uxTCPy() [2/2]

double get_uxTCPy ( void ) const

return the x-component of the y-axis of the beam baseframe, for the current plane to beam transform

Returns: x-component of the y-axis of the beam baseframe

◆ get_uyTCPy() [1/2]

static double get_uyTCPy ( const rw::math::Transform3D<> planeTbeam )

static

return the y-component of the y-axis of the beam baseframe

Parameters

planeTbeam the plane to beam transform to use

Returns: x-component of the y-axis of the beam baseframe

◆ get_uyTCPy() [2/2]

double get_uyTCPy ( void ) const

return the y-component of the y-axis of the beam baseframe, for the current plane to beam transform

Returns: x-component of the y-axis of the beam baseframe

◆ get_yTCP()

double get_yTCP ( void ) const

returns the height of the beam baseframe over the associated obstacle plane

Returns: height above the obstacle in millimeters

◆ getAccuracy()

double getAccuracy ( void ) const

returns accuracy goal of underlying numerical methods

Returns: accuracy goal

◆ getGeometry()

std::shared_ptr<BeamGeometry> getGeometry ( void ) const

returns the BeamGeometry used by the beam

Returns: the BeamGeometry used by the beam

◆ getIntegralIndices()

std::vector<int> getIntegralIndices ( void ) const

returns the indices on the beam at which to place integral constraints

Returns: indices on the beam

◆ getM()

int getM ( void ) const

returns number of cross sections in beam

Returns: number of cross sections in beam

◆ getObstacle()

std::shared_ptr<BeamObstaclePlane> getObstacle ( void ) const

returns the BeamObstaclePlane used by the beam

Returns: the BeamObstaclePlane used by the beam

◆ integrateAngleU()

void integrateAngleU	(	Eigen::VectorXd &	U,
		const Eigen::VectorXd &	avec
	)

given a vector of angles, calculates the x-part of the corresponding curve

Parameters

U	reference to the vector to store the x-component in
avec	reference to the vector of angles

◆ integrateAngleV()

void integrateAngleV	(	Eigen::VectorXd &	V,
		const Eigen::VectorXd &	avec
	)

given a vector of angles, calculates the y-part of the corresponding curve

Parameters

V	reference to the vector to store the x-component in
avec	reference to the vector of angles

◆ setAccuracy()

void setAccuracy ( double acc )

sets accuracy goal of underlying numerical methods

Parameters

acc	accuracy goal

◆ setIntegralIndices()

void setIntegralIndices ( const std::vector< int > & indices )

sets the integral indices for the beam

Parameters

indices vector of indices

Friends And Related Function Documentation

◆ operator<<

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

friend

outputs a ModRusselBeamBase to stream

Parameters

out	the stream
obj	the beam

Returns: a stream

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

ModRusselBeamBase.hpp

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ModRusselBeamBase()

Member Function Documentation

◆ computeIntegralIndicies()

◆ get_h()

◆ get_planeTbeam()

◆ get_thetaTCP()

◆ get_uxTCPy() [1/2]

◆ get_uxTCPy() [2/2]

◆ get_uyTCPy() [1/2]

◆ get_uyTCPy() [2/2]

◆ get_yTCP()

◆ getAccuracy()

◆ getGeometry()

◆ getIntegralIndices()

◆ getM()

◆ getObstacle()

◆ integrateAngleU()

◆ integrateAngleV()

◆ setAccuracy()

◆ setIntegralIndices()

Friends And Related Function Documentation

◆ operator<<