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suIndAcc Class Reference

A class that performs a basic induced acceleration analysis. More...

#include <suIndAcc.h>

Inheritance diagram for suIndAcc:

List of all members.

Public Member Functions
	suIndAcc (rdModel *aModel)
	Construct an induced acceleration instance for a model.
	suIndAcc (rdModel *aModel, rdStorage *aStates, rdStorage *aControls, char *aBaseName, char *aDir=NULL, char *aExtension=NULL)
	Construct an induced acceleration instance for a model.
virtual	~suIndAcc ()
	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.
const char *	getComponentName (int aC)
	GET THE NAME OF A COMPONENT.
virtual void	setStorageCapacityIncrements (int aIncrement)
	Set the capacity increments of all storage instances.
rdStorage **	getForceStorage ()
	Get the force decomposition storage.
bool	getUseNullDecomposition ()
	Get whether or not accelerations are being computed using a NULL decomposition.
void	setComputeNormalizedAccelerations (bool aBool)
	Set whether or not accelerations are being normalized by actuator force.
bool	getComputeNormalizedAccelerations ()
	Get whether or not accelerations are being normalized by actuator force.
int	computeAccelerations ()
	Compute induced accelerations given the force decomposition and set of states.
void	sumForceResults ()
	Sum the force decompositon results.
void	sumAccelerationResults ()
	Sum the accelerations results.
void	sumDecomposition ()
	Sum the independent component forces to get the contribution of all actuators and all components.
virtual void	store ()
	Store various model quantities.
virtual int	printResults (char *aBaseName, char *aDir=NULL, double aDT=-1.0, char *aExtension=".sto")
	Print results.
Protected Attributes
int	_nc
int	_nic
int	_ne
int	_cAct
int	_cGrav
int	_cVel
int	_cIner
int	_cAllAct
int	_cAll
double	_ti
double	_tf
const char **	_cNames
double	_contactThreshold
bool *	_contactEstablished
double *	_feContig
double ***	_fe
rdStorage *	_yStore
rdStorage *	_xStore
rdStorage **	_feStore
rdStorage **	_aeStore
rdStorage **	_velStore
rdStorage **	_posStore
rdStorage *	_iPosStore
rdStorage *	_iVelStore
char *	_aeDescrip
char *	_aeLabels
bool	_computeNormalizedAccelerations
	Flag that determines whether accelerations are normalized by force.
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 accelerations are being computed using a NULL decomposition.

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Detailed Description

A class that performs a basic induced acceleration analysis.

An induced acceleration analysis can be peformed in two ways using this class: 1) during the course of a simulation and 2) after a simulation has completed. For the second way, the states recorded during the simulation as well an appropriate contact force decomposition must be used to construct the suIndAcc instance.

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

suIndAcc::suIndAcc (  rdModel *  aModel  )

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

suIndAcc::suIndAcc (  rdModel *  aModel, rdStorage *  aStates, rdStorage *  aControls, 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. aStates  Set of model controls. 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 suIndAcc::computeAccelerations (   )

Compute induced accelerations given the force decomposition and set of states. Returns: 0 on success, -1 on error.

bool suIndAcc::getComputeNormalizedAccelerations (   )

Get whether or not accelerations are being normalized by actuator force. Returns: True when the accelerations are being normalized by actuator force

double suIndAcc::getContactThreshold (   )

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

rdStorage ** suIndAcc::getForceStorage (   )

Get the force decomposition storage. Returns: Array of pointers to the force decomposition storage objects.

bool suIndAcc::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.

int suIndAcc::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. Reimplemented in suBodyIndAcc, suBodyIndAccCOM, suBodyIndPowers, suBodyPointIndAcc, and suIndContactPowers.

int suIndAcc::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 suIndAcc::setComputeNormalizedAccelerations (  bool  aBool  )

Set whether or not accelerations are being normalized by actuator force. Parameters: aBool  Determines whether accelerations are normalized by actuator force.

void suIndAcc::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 suIndAcc::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. Reimplemented in suBodyIndAcc, suBodyIndAccCOM, suBodyIndPowers, and suBodyPointIndAcc.

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

• suIndAcc.h
• suIndAcc.cpp

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