This is an example, using the RigidBody class as basis for implementation of equations of motion. More...

#include <PulsedBody.hxx>

Inheritance diagram for PulsedBody:

Collaboration diagram for PulsedBody:

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Public Member Functions
	PulsedBody (double dt)
	Constructor.

	~PulsedBody ()
	Destructor.

void	derivative (VectorE &xd, double dt_offset)
	Function needed for integration.

void	step ()
	Function that does an integration step.

Public Member Functions inherited from RigidBody
	RigidBody (double mass, double Jxx, double Jyy, double Jzz, double Jxy, double Jxz, double Jyz, int extrastates=0)
	Simple constructor for a rigid body dynamics module.

	~RigidBody ()
	Destructor.

void	initialize (double x, double y, double z, double u, double v, double w, double phi, double theta, double psi, double p, double q, double r)
	Initialize a state vector x.

void	derivative (VectorE &xd, double unused=0.0)
	Obtain and calculate the derivative, given sum of forces and moments and the gravitational field acting on the body.

template<class V >
void	derivative (V &xd, double unused=0.0)
	Obtain and calculate the derivative, given sum of forces and moments and the gravitational field acting on the body.

void	specific (Vector &sp)
	Calculate specific forces and moments, forces stored in elements 0, 1, and 2, moments in elements 3, 4 and 6.

void	zeroForces ()
	Initialize sum of forces on the body to zero.

void	applyBodyForce (const Vector3 &Fb, const Vector3 &point)
	Apply a force expressed in body coordinates.

void	applyInertialForce (const Vector &Fi, const Vector &point)
	Apply a force expressed in inertial coordinates, at a specific body point, give in body coordinates.

void	applyBodyMoment (const Vector &M)
	Apply a moment expressed in body coordinates.

void	changeState (const Vector &dx)
	Change the state vector by a quantity dx.

void	addInertialGravity (const Vector &g)
	Add a gravitational field; 3 element vector, gravitation expressed in the inertial system.

void	setState (const Vector &newx)
	Put in a new state vector.

void	changeMass (const double dm)
	Add to the mass of the body.

void	setMass (const double newm)
	Set a new mass.

void	output ()
	Calculate auxiliary outputs, V, \(\alpha\), \(\beta\), \(\phi\), \(\theta\) and \(\Psi\).

const Vector &	X () const
	Obtain the state, 13 elements.

const double	V () const
	Obtain speed.

const double	alpha () const
	Obtain alpha.

const double	beta () const
	Obtain beta.

const double	getMass () const
	Get current mass.

const double	phi () const
	Get euler angle phi.

const double	theta () const
	Get euler angle theta.

const double	psi () const
	Get euler angle psi.

const Matrix3 &	A ()
	Get the transformation matrix, for transforming a vector in earth coordinates to one in the body's coordinate system.

Public Attributes
double	tau_e
	Time constant simulating the "engine" dynamics.

double	dt
	Size of time steps.

Vector	force
	For efficiency, auxiliary variable that represents a force vector.

Vector	fpoint
	Auxiliary variable, vector giving the point where the force is applied.

Vector	gravity
	Auxiliary variable, vector giving gravity.

RungeKuttaWorkspace	workspace
	Workspace for the RungeKutta integration.

Additional Inherited Members
Protected Attributes inherited from RigidBody
Vector	x
	State vector.

Detailed Description

This is an example, using the RigidBody class as basis for implementation of equations of motion.

The PulsedBody class derives from RigidBody, and applies forces on the RigidBody object. Using a Runge Kutta integration, the states of the RigidBody object are integrated numerically.

Examples: PulsedBody.cxx, and PulsedBody.hxx.

Constructor & Destructor Documentation

◆ PulsedBody()

PulsedBody::PulsedBody ( double dt )

Constructor.

Parameters

dt	Time step of the update.

Examples: PulsedBody.cxx, and PulsedBody.hxx.

Member Function Documentation

◆ derivative()

void PulsedBody::derivative	(	VectorE &	xd,
		double	dt_offset )

Function needed for integration.

This function will be called by the integrate_rungekutta() function. It calculates the derivative of the state vector.

Parameters

xd	Derivative of the state vector
dt_offset	Time offset for calculating the derivative. The integration routine might need the derivative of the state for time steps that are a fraction of the integration time step, e.g. for 0dt, 0.5dt and dt after the previous integration step.

Examples: PulsedBody.cxx, and PulsedBody.hxx.

Member Data Documentation

◆ force

Vector PulsedBody::force

For efficiency, auxiliary variable that represents a force vector.

Note that RigidBody uses eigen3 http://eigen.tuxfamily.org/ for matrix and vector operations. Vector is a typedef in the RigidBody header file, and defines a shortcut to the vector class used here.

Examples: PulsedBody.cxx, and PulsedBody.hxx.

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

/home/abuild/rpmbuild/BUILD/dueca-4.1.3/doc/example/PulsedBody.hxx

Public Member Functions

Public Attributes