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suContact Class Reference

A class for recording the contact forces (and torques) generated during a simulation. More...

#include <suContact.h>

Inheritance diagram for suContact:

List of all members.

Public Member Functions
	suContact (rdModel *aModel, int *aCOPGroups=NULL)
	Construct an suContact object for recording the various qunatities associates with contact.
virtual	~suContact ()
	Destructor.
const char *	getScalarColumnLabels () const
	Get the column labels for scalar variables such as contact powers.
const char *	getCOPColumnLabels () const
	Get the column labels for COP groups.
rdStorage *	getPointsStorage () const
	Get the contact points storage.
rdStorage *	getVelocityStorage () const
	Get the contact point velocity storage.
rdStorage *	getForceStorage () const
	Get the force storage.
rdStorage *	getPowerStorage () const
	Get the power storage.
rdStorage *	getCOPStorage () const
	Get the cop storage.
void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
virtual int	begin (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called at the beginning of an analysis so that any necessary initializations may be performed.
virtual int	analyze (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called to perform the analysis.
virtual int	end (int aStep, double aDT, double aT, double *aX, double *aY, void *aClientData=NULL)
	This method is called at the end of an analysis so that any necessary finalizations may be performed.
virtual int	printResults (char *aBaseName, char *aDir=NULL, double aDT=-1.0, char *aExtension=".sto")
	Print results.
Protected Member Functions
virtual int	record (double aT, double *aX, double *aY)
	Record the contact quantities.
void	resetStorage ()
	Reset all storage objects.
Protected Attributes
double *	_points
	Array of contact points.
double *	_velocities
	Array of contact velocities.
double *	_forces
	Array of contact forces.
double *	_powers
	Array of contact powers.
double *	_cops
	Array of cop locations (x and z direction for each contact point).
rdStorage *	_pStore
	Storage for the contact points.
rdStorage *	_vStore
	Storage for the contact point velocities.
rdStorage *	_fStore
	Storage for the contact forces.
rdStorage *	_pwrStore
	Storage for contact powers.
rdStorage *	_copsStore
	Storage for cop.
Private Member Functions
void	setNull ()
	Set NULL values for member variables.
void	constructDescription ()
	Construct a description.
void	constructColumnLabels (int nCOPgroups)
	Get a string of column labels.
void	allocateStorage ()
	Allocate storage for the kinematics.
void	deleteStorage ()
	Delete storage objects.
Private Attributes
char	_scalarLabels [rdAnalysis_DESCRIP_LENGTH]
char	_copLabels [rdAnalysis_DESCRIP_LENGTH]
int *	_copGroupAssignments
	Array containing group assignemnts for each contact point in COP calc *.
int	_nCOPGroups
	Number of COP groups *.

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Detailed Description

A class for recording the contact forces (and torques) generated during a simulation.

This class will record only the forces (and torques) returned by the getContactForces() method of rdModel.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

suContact::suContact (  rdModel *  aModel, int *  aCOPGroups = NULL )

Construct an suContact object for recording the various qunatities associates with contact. Parameters: aModel  Model for which the kinematics are to be recorded. aCOPGroups  Array containing group assignment for each contact point. The array must be as long as the number of contact points in the model. For a contact point to not be included in a COP calculation, assign it a negative group number. IF all points are assigned negative numbers, no COP analysis will be performed. If no array is given, the COP is calcualted for all contact points in the model.

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Member Function Documentation

int suContact::analyze (  double *  aXPrev, double *  aYPrev, int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called to perform the analysis. It can be called during the execution of a forward integrations or after the integration by feeding it the necessary data. When called during an integration, this method is meant to be called in rdModel::integStepCallback(), which has the same argument list. This method should be overriden in derived classes. It is included here so that the derived class will not have to implement it if it is not necessary. Parameters: aXPrev  Controls at the beginining of the current time step. aYPrev  States at the beginning of the current time step. aStep  Step number of the integration. aDT  Size of the time step that was just taken. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

int suContact::begin (  int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called at the beginning of an analysis so that any necessary initializations may be performed. This method is meant to be called at the begining of an integration in rdModel::integBeginCallback() and has the same argument list. This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary. Parameters: aStep  Step number of the integration. aDT  Size of the time step that will be attempted. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

int suContact::end (  int  aStep, double  aDT, double  aT, double *  aX, double *  aY, void *  aClientData = NULL )  [virtual]

This method is called at the end of an analysis so that any necessary finalizations may be performed. This method is meant to be called at the end of an integration in rdModel::integEndCallback() and has the same argument list. This method should be overriden in the child class. It is included here so that the child class will not have to implement it if it is not necessary. Parameters: aStep  Step number of the integration. aDT  Size of the time step that was just completed. aT  Current time in the integration. aX  Current control values. aY  Current states. aClientData  General use pointer for sending in client data. Returns: -1 on error, 0 otherwise. Reimplemented from rdAnalysis.

const char * suContact::getCOPColumnLabels (   )  const

Get the column labels for COP groups. Returns: Column labels for COP groups.

rdStorage * suContact::getCOPStorage (   )  const

Get the cop storage. Returns: COP storage.

rdStorage * suContact::getForceStorage (   )  const

Get the force storage. Returns: Force storage.

rdStorage * suContact::getPointsStorage (   )  const

Get the contact points storage. Returns: Points storage.

rdStorage * suContact::getPowerStorage (   )  const

Get the power storage. Returns: Power storage.

const char * suContact::getScalarColumnLabels (   )  const

Get the column labels for scalar variables such as contact powers. Returns: Column labels for scalar variables.

rdStorage * suContact::getVelocityStorage (   )  const

Get the contact point velocity storage. Returns: Body-local force storage.

int suContact::printResults (  char *  aBaseName, char *  aDir = NULL, double  aDT = -1.0, char *  aExtension = ".sto" )  [virtual]

Print results. The file names are constructed as aDir + "/" + aBaseName + "_" + ComponentName + aExtension Parameters: aDir  Directory in which the results reside. aBaseName  Base file name. aExtension  File extension. Returns: 0 on success, -1 on error. Reimplemented from rdAnalysis.

void suContact::resetStorage (   )  [protected]

Reset all storage objects. That is, delete all internally stored data so that new data may be stored.

void suContact::setStorageCapacityIncrements (  int  aIncrement  )

Set the capacity increments of all storage instances. Parameters: aIncrement  Increment by which storage capacities will be increased when storage capcities run out.

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

• suContact.h
• suContact.cpp

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