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rdContactForceSet Class Reference

A class for holding and managing a set of contacts for a model. More...

#include <rdContactForceSet.h>

Inheritance diagram for rdContactForceSet:

List of all members.

Public Member Functions
	rdContactForceSet ()
	Default constructor.
	rdContactForceSet (const char *aFileName)
	Construct an actuator from file.
virtual	~rdContactForceSet ()
	Destructor.
void	setModel (rdModel *aModel)
	Set the model for which actuation is provided.
rdModel *	getModel ()
	Get a pointer to the model which is actuated.
rdContactForce *	setContactForce (rdContactForce *aContact)
	Set the contact object at the first empty index.
rdContactForce *	setContactForce (int aIndex, rdContactForce *aContact)
	Set the actuator at an index.
rdContactForce *	getContactForce (int aIndex) const
	Get the actuator at an index.
int	getNYP ()
	Get the total number of actuator pseudostates.
int	getPseudoStatesIndex (int aWhichActuator)
	Get the index for the pseudostates array for a particular contact.
void	setPseudoStates (const double aY[])
	Set the pseudostates for all contacts in the model.
void	getPseudoStates (double rY[])
	Get the pseudostates for all contacts in the model.
void	computeContact ()
	For each contact, compute all necessary quantities.
void	updatePseudoStates ()
	Update the pseudostates of all contact forces.
void	apply ()
	For each contact, apply the force(s) (or torque(s)) to the model.
bool	check () const
	Check that all contacts are valid.
void	updateObject (bool aDeep=true)
	Update this object based on its XML node.
void	updateNode (bool aDeep=true)
	Update the XML node representing this object.
void	generateNode (IDOM_Element *aParent)
	Generate an XML node representing this object.
Static Public Member Functions
void	RegisterType (const rdContactForce &aContact)
	Register a supported contact force type.
Protected Attributes
rdPtrArray	_defaultContactForces
	Expandable array of default contact force objects.
rdModel *	_model
	Model on which the contact forces act.
int	_nyp
	Number of pseudostates.
int *	_pseudoIndex
	Pseudostates index.
Private Member Functions
void	setNull ()
	Set the data members of this actuator to their null values.
void	constructPseudoStatesIndex ()
	Construct the pseudostates index.
void	constructDefaultContacts ()
	Construct the default contact forces.
Static Private Attributes
rdPtrArray	_ContactForceTypes
	Expandable array of supported contact force types.

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Detailed Description

A class for holding and managing a set of contacts for a model.

A contact is distinguished from a general actuator in that it has no states and no controls. However, a contact can have pseudostates (variables that are not only a function of the states, but also of the time history of the states).

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdContactForceSet::rdContactForceSet (  const char *  aFileName  )

Construct an actuator from file. Parameters: aFileName  Name of the file.

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Member Function Documentation

void rdContactForceSet::generateNode (  IDOM_Element *  aParent  )  [virtual]

Generate an XML node representing this object. Parameters: aParent  Intended parent of the node to be generated. If aParent is NULL, the intent is for this object to serve as the root element of a new document. Reimplemented from rdObject.

rdContactForce * rdContactForceSet::getContactForce (  int  aIndex  )  const

Get the actuator at an index. Parameters: aIndex  Array index of the actuator to be returned. Returns: Contact at index aIndex.

rdModel * rdContactForceSet::getModel (   )

Get a pointer to the model which is actuated. Returns: Pointer to the model.

int rdContactForceSet::getNYP (   )

Get the total number of actuator pseudostates. Returns: Total number of actuator pseudostates.

void rdContactForceSet::getPseudoStates (  double  rY[]  )

Get the pseudostates for all contacts in the model. See getPseudoStatesIndex() for a description of the assumed layout of the pseudostates array. Parameters: rY  Array of pseudostates for all contacts. The first element of aYP is assumed to be the beginning of the pseudo states for the contacts. See also: getPseudoStatesIndex()

int rdContactForceSet::getPseudoStatesIndex (  int  aWhichActuator  )

Get the index for the pseudostates array for a particular contact. The pseudostates that characterize all the contact forces of a model are held by the model in an array of values. The convention used by rdContactSet is that the pseudostates for an actuator are held in this array sequentially: PseudoStatesArray Act Act State yp[ictx+0] 0 0 yp[ictx+1] 0 1 yp[ictx+2] 0 2 yp[ictx+3] 1 0 yp[ictx+4] 3 0 yp[ictx+5] 3 1 ... ... ... Notice that not all contacts need have the same number of pseudostates. In the above example, contact 0 has 3 pseudostates, contact 1 has 1 pseudostate, contact 2 has 0 pseudostates, and contact 3 has 2 pseudostates. Note also that it is assumed that the indeces are computed as though the contact pseudostates start at the beginning of the pseudostates array. In actuality the contact pseudostates may start in the middle of some larger array. The index ictx above indexes where in the pseudostate array yp the contact pseudostates begin. It should be apparent to the caller what this number is and should account for as necessary. This method returns the array index that marks the beginning of the pseudostates for a particular contact. In the event the contact has no pseudostates, -1 is returned. For the above example, the following values of aWhich would produce the following return values: aWhich Return 0 0 1 3 2 -1 3 4 Parameters: aWhich  The number (or index) of the contact whose pseudostate index is desired. Returns: Array index that marks the beginning of the pseudostates for the specified contact. In the event the contact has no pseudostates, -1 is returned.

void rdContactForceSet::RegisterType (  const rdContactForce &  aContact  )  [static]

Register a supported contact force type. Any contact type that is supported can be written to and read from an XML file. The contact force must have implemented the following methods to be supported: 1) copy constructor (e.g., rdSpring::rdSpring(const rdSpring &aSpring)) 2) virtual rdContactForce* copy() const, 3) virtual rdContactForce* copy(IDOM_Element*) const, 4) rdContactForce& operator=() (!! with the appropriate return type), 5) virtual void updateObject(bool aDeep=true), 6) virtual void updateNode(bool aDeep=true), and 7) virtual void generateNode(IDOM_Element *aParent). Because this method is static, registration of contact types needs to be done only once per process and an rdContactForceSet does not need to be instantiated to do so. This method makes a copy of the specified contact, so the caller may continue to use the spacified contact force (aContactForce) for whatever purpose. Parameters: aContact  Contact of the type to be added (must be derived from rdContactForce).

rdContactForce * rdContactForceSet::setContactForce (  int  aIndex, rdContactForce *  aContact )

Set the actuator at an index. Sending in NULL for the rdContactForce pointer essentially removes the actuator at aIndex from the array of actuators. Note however that the caller is responsible for deleting any actuators that are removed from this list in this way. For this reason, the actuator pointer previously held at aIndex is returned by this method. It is also permissible to send in any positive value for aIndex, and there can be gaps in the array of actuators. However, it is advisible to use setContacts(rdContactForce*) when adding an actutor so the array of actuators remains contiguous. Parameters: aIndex  Array index where the actuator is to be stored. aContact  Contact pointer. Returns: Pointer to the actuator previously held at aIndex.

rdContactForce * rdContactForceSet::setContactForce (  rdContactForce *  aContact  )

Set the contact object at the first empty index. This method should always return NULL. If it does not return NULL, it means that a contact object was already stored at what was thought to be the first empty location. Parameters: aIndex  Array index where the actuator is to be stored. aContact  Contact. Returns: Pointer to the actuator previously held.

void rdContactForceSet::setModel (  rdModel *  aModel  )

Set the model for which actuation is provided. Returns: Pointer to the model.

void rdContactForceSet::setPseudoStates (  const double  aY[]  )

Set the pseudostates for all contacts in the model. See getPseudoStatesIndex() for a description of the assumed layout of the pseudostates array. Parameters: aYP  Array of pseudostates for all contacts. The first element of aYP is assumed to be the beginning of the pseudo states for the contacts. See also: getPseudoStatesIndex()

void rdContactForceSet::updateObject (  bool  aDeep = true  )  [virtual]

Update this object based on its XML node. Parameters: aDeep  If true, update this object and all its child objects (that is, member variables that are rdObject's); if false, update only the member variables that are not rdObject's. Reimplemented from rdPtrArray.

void rdContactForceSet::updatePseudoStates (   )

Update the pseudostates of all contact forces. Pseudostates are quantities that are not integrated but that depend on the time history of a simulation (e.g., spring set points).

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

• rdContactForceSet.h
• rdContactForceSet.cpp

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