class linkForceContext

class used for computing link deflections & stresses

Public Fields

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

Public Methods

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.

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.

double findMaxShearForce(double d1, double d2, triple &max)

computes the maximum shear force along the link between d1 and d2.

double findMaxAxialForce(double d1, double d2, double &max)

computes the maximum axial force (compression or tension) between d1 and d2.

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.

double findMaxBendingMoment(double d1, double d2, triple &max)

computes the maximum bending moment between d1 and d2.

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.

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

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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