In file /home/blah/darwin2k/src/d2k/d2kcore/linkForce.h:class used for computing link deflections & stresses
Public Fields
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triple p1
- one end of the link
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triple p2
- the other end of the link
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triple pc
- the center of mass
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triple x
- link x axis
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triple y
- link y axis
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triple z
- link z axis
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double m
- link mass
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double l
- link length
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double linv
- inverse of link length
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triple f2
- force applied at pt2 by this link
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triple n2
- moment applied at pt2 by this link
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triple vDot
- acceleration of pt1
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triple omega
- angular velocity of link
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triple omegaDot
- angular acceleration of link
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triple inertialSlime
- inertial stuff to distribute
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triple xCrossF2
- cross produce of x and f2
Public Methods
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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.
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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.
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double findMaxShearForce(double d1, double d2, triple &max)
- computes the maximum shear force along the link between d1 and d2.
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double findMaxAxialForce(double d1, double d2, double &max)
- computes the maximum axial force (compression or tension) between d1 and d2.
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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.
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double findMaxBendingMoment(double d1, double d2, triple &max)
- computes the maximum bending moment between d1 and d2.
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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.
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double findMaxTwistingMoment(double d1, double d2, double &max)
- computes the maximum twisting moment between d1 and d2.
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void computeForce(double d, triple* f, triple* df = NULL)
- computes the force and its derivative at position d along the link
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void computeMoment(double d, triple* f, triple* df = NULL)
- computes the moment and its derivative at position d along the link
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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
- triple p1
- one end of the link
- triple p2
- the other end of the link
- triple pc
- the center of mass
- triple x
- link x axis
- triple y
- link y axis
- triple z
- link z axis
- double m
- link mass
- double l
- link length
- double linv
- inverse of link length
- triple f2
- force applied at pt2 by this link
- triple n2
- moment applied at pt2 by this link
- triple vDot
- acceleration of pt1
- triple omega
- angular velocity of link
- triple omegaDot
- angular acceleration of link
- triple inertialSlime
- inertial stuff to distribute
- triple xCrossF2
- cross produce of x and f2
- 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)
- 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.
- Returns:
- Returns the value of d at which the max force was found, and
sets max to the magnitude of the force.
- double 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.
- double 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.
- 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. Returns the value of d at which the moment occurs,
and returns the magnitude in max.
- double 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.
- 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.
- double 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.
- void computeForce(double d, triple* f, triple* df = NULL)
- computes the force and its derivative at position d along the link
- void computeMoment(double d, triple* f, triple* df = NULL)
- computes the moment and its derivative at position d along the link
- 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
- This class has no child classes.
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