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suDecomp Class Reference

An abstract base class for supporting the decomposition of contact forces. More...

#include <suDecomp.h>

Inheritance diagram for suDecomp:

List of all members.

Public Member Functions
	suDecomp (rdModel *aModel)
	Construct an decomposition instance for a model.
	suDecomp (rdModel *aModel, char *aBaseName, char *aDir=NULL, char *aExtension=NULL)
	Construct an induced acceleration instance for a model.
virtual	~suDecomp ()
	Destructor.
int	getNumComponents ()
	Get the number of components.
int	getNumIndependentComponents ()
	Get the number of independent components.
int	getNumElements ()
	Get the number of contact elements.
int	getLastActuatorIndex ()
	Get the index of the last actuator component.
int	getGravityIndex ()
	Get the index of the gravity component.
int	getVelocityIndex ()
	Get the index of the velocity component.
int	getInertialIndex ()
	Get the index of the inertial component.
int	getAllActuatorsIndex ()
	Get the index of the total of all actuator components.
int	getAllIndex ()
	Get the index of the total of all components.
void	setContactThreshold (double aThreshold)
	Set the force threashold above which contact is assumed to be established.
double	getContactThreshold ()
	Get the force threashold above which contact is assumed to be established.
void	setUsePresetContactEstablishedSettings (bool aTrueFalse)
	Set whether or not to use preset contact established settings.
bool	getUsePresetContactEstablishedSettings () const
	Get whether or not to use preset contact established settings.
void	setContactEstablished (int aIndex, bool aTrueFalse)
	Set whether or not contact has been established at a specified contact point.
bool	getContactEstablished (int aIndex) const
	Get whether or not contact has been established at a specified contact point.
void	setRecordContactPointAccelerations (bool aTrueFalse)
	Determine whether or not contact point accelerations will be recorded.
bool	getRecordContactPointAccelerations ()
	Get whether or not the contact points are being recorded.
const char *	getComponentName (int aC)
	GET THE NAME OF A COMPONENT.
virtual void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
const rdStorage *	getDecomposition (int aC) const
	Get the force decomposition for a particular component.
bool	getUseNullDecomposition ()
	Get whether or not accelerations are being computed using a NULL decomposition.
virtual void	compute (double *aXPrev, double *aYPrev, int aStep, double aDT, double aT, double *aX, double *aY)=0
void	sum ()
	Sum the separate components of a force decompositon to get the decomposition due to all actuators and to all components.
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.
Static Public Attributes
const char *	ADDON_COMPONENT_NAMES []
Protected Attributes
int	_nc
	Number of action components.
int	_nic
	Number of independent action components.
int	_np
	Number of contact points.
int	_cAct
	Index to the last actuator component.
int	_cGrav
	Index to the gravity component.
int	_cVel
	Index to the velocity component.
int	_cIner
	Index to the inertial component.
int	_cAllAct
	Index to the all actuators component.
int	_cAll
	Index to the all component.
const char **	_cNames
	Array of component names.
double	_contactThreshold
	Contact threashold for when to perform a decomposition.
bool	_usePresetContactEstablishedSettings
	Flag to indicate whether or not to use preset contact established settings.
bool *	_contactEstablished
	Array of flags to indicate whether or not contact has been established at each of the contact pooints.
double *	_fContig
	Contiguous memory allocation for the force decomposition results.
double ***	_f
	Arrays for storing the current force decomposition.
rdStorage **	_fStore
	Storage objects for storing the time history of the decomposition.
rdStorage **	_cpaStore
	Storage objects for storing the contact point accelerations.
bool	_recordContactPointAccelerations
	Flag which indicates whether or not the contact point accelerations are being recorded.
Private Member Functions
void	setNull ()
	Set member variables to approprate NULL values.
void	initializeNumbers ()
	Initialize numbers of things.
void	constructComponentNames ()
	Construct component names.
void	constructDescription ()
	Construct a description.
void	constructColumnLabels ()
	Construct the column labels.
void	allocateElementVectors ()
	Allocate element vectors.
void	allocateStoragePointers ()
	Allocate storage pointers for the force decomposition and induced accelerations.
void	allocateStorage ()
	Allocate storage for the decomposition.
void	deleteStorage ()
	Delete storage objects.
void	createNullDecomposition ()
	Create a NULL decomposition.
virtual int	readDecomposition (char *aBaseName, char *aDir=NULL, char *aExtension=NULL)
	Read the results of a force decomposition from file.
Private Attributes
bool	_useNullDecomposition
	Flag which indicates whether or not the decomposition is NULL.

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Detailed Description

An abstract base class for supporting the decomposition of contact forces.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

suDecomp::suDecomp (  rdModel *  aModel  )

Construct an decomposition instance for a model. This constructor is used if the decomposition analysis is going to be performed during the course of a simulation. Parameters: aModel  Model on which the analyses are to be performed.

suDecomp::suDecomp (  rdModel *  aModel, char *  aBaseName, char *  aDir = NULL, char *  aExtension = NULL )

Construct an induced acceleration instance for a model. This constructor is used when the analysis is to be performed following a simulation. The states recorded during the simulation as well as an appropriate force decomposition must be used to construct the induced acceleration instance. The induced accelerations are not read in from file. They are recomputed based on the force decomposition. If NULL is sent in as the base name for the force decomposition files, it is assumed that induced accelerations are to be computed based on a NULL decomposition. A NULL decomposition is one in which all induced contact forces are assmed to be zero: each actuator accelerates the model in a pure sense, without its associated reaction forces. Parameters: aModel  Model on which the simulation was run. aStates  Set of model states. aBaseName  Base name for the force decompositon files. If NULL, accelerations are computed based on a NULL decompostion. aDir  Directory in which the results reside. aExtension  File extension of the force decomposition files.

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Member Function Documentation

int suDecomp::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 suDecomp::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. Reimplemented in suDecompTaylor.

int suDecomp::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.

bool suDecomp::getContactEstablished (  int  aIndex  )  const

Get whether or not contact has been established at a specified contact point. Parameters: aIndex  Index of the contact point: 0 <= aIndex < rdModel::getNP(). Returns: True if contact has been established; false if not or on an error. See also: setUsePresetContactEstablished()

double suDecomp::getContactThreshold (   )

Get the force threashold above which contact is assumed to be established. Returns: Force threashold above which contact is established.

const rdStorage * suDecomp::getDecomposition (  int  aC  )  const

Get the force decomposition for a particular component. Returns: Pointer to the force decomposition for component aC.

bool suDecomp::getRecordContactPointAccelerations (   )

Get whether or not the contact points are being recorded. Returns: bool

bool suDecomp::getUseNullDecomposition (   )

Get whether or not accelerations are being computed using a NULL decomposition. A NULL decomposition is one in which all induced contact forces are assumed to be zero. The value returned by this method can be used to decide whether or not it is necessary to apply contact forces. Returns: True when a NULL decomposition is used, false otherwise.

bool suDecomp::getUsePresetContactEstablishedSettings (   )  const

Get whether or not to use preset contact established settings. If this flag is set to true, computation of contact forces is not performed in order to determine if contact has been established. Rather, it is assumed that the caller has preset the desired contact-established settings. Returns: True if preset contact established settings are used in the decomposition. False if contact forces are computed to determine if contact has been established. See also: setContactEstablished()

int suDecomp::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.

int suDecomp::readDecomposition (  char *  aBaseName, char *  aDir = NULL, char *  aExtension = NULL )  [private, virtual]

Read the results of a force decomposition from file. Note that the induced accelerations are not read in from file. The induced accelerations are recomputed based on the force decomposition. The file names are constructed as aDir + "/" + aBaseName + "_" + ComponentName + aExtension Parameters: aDir  Directory in which the results reside. aBaseName  Base file name of the files. aExtension  File extension. Returns: 0 on success, -1 on error.

void suDecomp::setContactEstablished (  int  aIndex, bool  aTrueFalse )

Set whether or not contact has been established at a specified contact point. Parameters: aIndex  Index of the contact point: 0 <= aIndex < rdModel::getNP(). aTrueFalse  Wheter or not contact has been established. See also: setUsePresetContactEstablished()

void suDecomp::setContactThreshold (  double  aThreshold  )

Set the force threashold above which contact is assumed to be established. Parameters: aThreashold  Force threashold above which contact is established.

void suDecomp::setRecordContactPointAccelerations (  bool  aTrueFalse  )

Determine whether or not contact point accelerations will be recorded. If set to true, space is allocated to store them. Parameters: aTrueFalse

void suDecomp::setStorageCapacityIncrements (  int  aIncrement  )  [virtual]

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

void suDecomp::setUsePresetContactEstablishedSettings (  bool  aTrueFalse  )

Set whether or not to use preset contact established settings. If this flag is set to true, computation of contact forces is not performed in order to determine if contact has been established. Rather, it is assumed that the caller has preset the desired contact-established settings. Parameters: aTrueFalse  If true, preset contact established settings are used in the decomposition. If false, contact forces are computed to determine if contact has been established. See also: setContactEstablished()

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Member Data Documentation

bool suDecomp::_useNullDecomposition [private]

Flag which indicates whether or not the decomposition is NULL. A NULL decomposition means no decompostion- all induced contact forces zero.

bool suDecomp::_usePresetContactEstablishedSettings [protected]

Flag to indicate whether or not to use preset contact established settings. If this flag is set to true, computation of contact forces is not performed in order to determine if contact has been established. Rather, it is assumed that the caller has preset the desired contact-established settings.

const char * suDecomp::ADDON_COMPONENT_NAMES [static]

Initial value: { "Gravity","Velocity","Inertial","Actuators","All" }

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

• suDecomp.h
• suDecomp.cpp

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