In file /home/blah/darwin2k/src/d2k/d2kcore/linkForce.h:

class linkForceContext

class used for computing link deflections & stresses

Public Fields

[more]triple p1
one end of the link
[more]triple p2
the other end of the link
[more]triple pc
the center of mass
[more]triple x
link x axis
[more]triple y
link y axis
[more]triple z
link z axis
[more]double m
link mass
[more]double l
link length
[more]double linv
inverse of link length
[more]triple f2
force applied at pt2 by this link
[more]triple n2
moment applied at pt2 by this link
[more]triple vDot
acceleration of pt1
[more]triple omega
angular velocity of link
[more]triple omegaDot
angular acceleration of link
[more]triple inertialSlime
inertial stuff to distribute
[more]triple xCrossF2
cross produce of x and f2

Public Methods

[more] linkForceContext(const triple &pt1, const triple &pt2, const triple &pc, const triple &F2, const triple &N2, const triple &vDot, const triple &omega, const triple &omegaDot, double m, const matrix &I)
constructor.
[more]double findMaxForce(double d1, double d2, const triple &dir, double &max)
computes the maximum force along the link between d1 and d2 in the direction indicated by dir.
[more]double findMaxShearForce(double d1, double d2, triple &max)
computes the maximum shear force along the link between d1 and d2.
[more]double findMaxAxialForce(double d1, double d2, double &max)
computes the maximum axial force (compression or tension) between d1 and d2.
[more]double findMaxMoment(double d1, double d2, const triple &dir, double &max)
computes the maximum moment between d1 and d2 in the direction indicated by dir.
[more]double findMaxBendingMoment(double d1, double d2, triple &max)
computes the maximum bending moment between d1 and d2.
[more]void findMaxBendingMoments(double d1, double d2, double &maxY, double &maxZ, double &dY, double &dZ)
computes the maximum bending moments between d1 and d2 in the Y and Z directions.
[more]double findMaxTwistingMoment(double d1, double d2, double &max)
computes the maximum twisting moment between d1 and d2.
[more]void computeForce(double d, triple* f, triple* df = NULL)
computes the force and its derivative at position d along the link
[more]void computeMoment(double d, triple* f, triple* df = NULL)
computes the moment and its derivative at position d along the link
[more]void computeDeflection(double d1, double d2, double Iy, double Iz, double J, double A, double E, double G, triple &dx, quaternion &dq)
computes the linear and angular deflection of the link


Documentation

class used for computing link deflections & stresses
otriple p1
one end of the link

otriple p2
the other end of the link

otriple pc
the center of mass

otriple x
link x axis

otriple y
link y axis

otriple z
link z axis

odouble m
link mass

odouble l
link length

odouble linv
inverse of link length

otriple f2
force applied at pt2 by this link

otriple n2
moment applied at pt2 by this link

otriple vDot
acceleration of pt1

otriple omega
angular velocity of link

otriple omegaDot
angular acceleration of link

otriple inertialSlime
inertial stuff to distribute

otriple xCrossF2
cross produce of x and f2

o linkForceContext(const triple &pt1, const triple &pt2, const triple &pc, const triple &F2, const triple &N2, const triple &vDot, const triple &omega, const triple &omegaDot, double m, const matrix &I)
constructor. All quantities are in world coordinates, and F2 and N2 are the force & moment applied by the link to the next link (at pt2)

odouble findMaxForce(double d1, double d2, const triple &dir, double &max)
computes the maximum force along the link between d1 and d2 in the direction indicated by dir.
Returns:
Returns the value of d at which the max force was found, and sets max to the magnitude of the force.

odouble findMaxShearForce(double d1, double d2, triple &max)
computes the maximum shear force along the link between d1 and d2.
Returns:
Returns the value of d at which the maximum shear force was found, and returns the force is max.

odouble findMaxAxialForce(double d1, double d2, double &max)
computes the maximum axial force (compression or tension) between d1 and d2. Returns the force's magnitude in max.

odouble findMaxMoment(double d1, double d2, const triple &dir, double &max)
computes the maximum moment between d1 and d2 in the direction indicated by dir. Returns the value of d at which the moment occurs, and returns the magnitude in max.

odouble findMaxBendingMoment(double d1, double d2, triple &max)
computes the maximum bending moment between d1 and d2. Returns the value of d at which the moment occurs, and returns the magnitude in max.

ovoid findMaxBendingMoments(double d1, double d2, double &maxY, double &maxZ, double &dY, double &dZ)
computes the maximum bending moments between d1 and d2 in the Y and Z directions.

odouble findMaxTwistingMoment(double d1, double d2, double &max)
computes the maximum twisting moment between d1 and d2. Returns the value of d at which the moment occurs, and returns the magnitude in max.

ovoid computeForce(double d, triple* f, triple* df = NULL)
computes the force and its derivative at position d along the link

ovoid computeMoment(double d, triple* f, triple* df = NULL)
computes the moment and its derivative at position d along the link

ovoid computeDeflection(double d1, double d2, double Iy, double Iz, double J, double A, double E, double G, triple &dx, quaternion &dq)
computes the linear and angular deflection of the link


This class has no child classes.

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