Restored translationODE class
Accidentally removed it in one of the previous commits
This commit is contained in:
Vuko Vukcevic
Hrvoje Jasak
parent
6a514ecb48
commit
21201c4585
4 changed files with 550 additions and 0 deletions
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@ -9,6 +9,9 @@ $(ODESolvers)/SIBS/SIBS.C
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$(ODESolvers)/SIBS/SIMPR.C
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$(ODESolvers)/SIBS/polyExtrapolate.C
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translationODE = translationODE
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$(translationODE)/translationODE.C
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sixDOF = sixDOF
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$(sixDOF)/finiteRotation/finiteRotation.C
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$(sixDOF)/sixDOFqODE/sixDOFqODE.C
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202
src/ODE/translationODE/translationODE.C
Normal file
202
src/ODE/translationODE/translationODE.C
Normal file
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@ -0,0 +1,202 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | foam-extend: Open Source CFD
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\\ / O peration | Version: 4.0
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\\ / A nd | Web: http://www.foam-extend.org
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\\/ M anipulation | For copyright notice see file Copyright
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-------------------------------------------------------------------------------
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License
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This file is part of foam-extend.
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foam-extend is free software: you can redistribute it and/or modify it
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under the terms of the GNU General Public License as published by the
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||||
Free Software Foundation, either version 3 of the License, or (at your
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||||
option) any later version.
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foam-extend is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
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Class
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translationODE
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Description
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Ordinary differential equation for three degrees of freedom
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solid body motion
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Author
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Hrvoje Jasak
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Dubravko Matijasevic
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\*---------------------------------------------------------------------------*/
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#include "translationODE.H"
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#include "objectRegistry.H"
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#include "foamTime.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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// namespace Foam
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// {
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// defineTypeNameAndDebug(translationODE, 0);
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// }
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// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
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void Foam::translationODE::setCoeffs()
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{
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// Set ODE coefficients from position and rotation
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// Linear displacement in relative coordinate system
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{
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const vector& xVal = Xrel_.value();
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coeffs_[0] = xVal.x();
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coeffs_[1] = xVal.y();
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coeffs_[2] = xVal.z();
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}
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// Linear velocity in relative coordinate system
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{
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const vector& uVal = U_.value();
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coeffs_[3] = uVal.x();
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coeffs_[4] = uVal.y();
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coeffs_[5] = uVal.z();
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}
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}
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Foam::dimensionedVector Foam::translationODE::A
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(
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const dimensionedVector& xR,
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const dimensionedVector& uR
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) const
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{
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return
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(
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- (linSpringCoeffs_ & xR) // spring
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- (linDampingCoeffs_ & uR) // damping
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+ force()
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)/mass_; // gravity
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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// Construct from components
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Foam::translationODE::translationODE
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(
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const IOobject& io
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)
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:
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IOdictionary(io),
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mass_(lookup("mass")),
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xEquilibrium_(lookup("equilibriumPosition")),
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linSpringCoeffs_(lookup("linearSpring")),
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linDampingCoeffs_(lookup("linearDamping")),
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Xrel_(lookup("Xrel")),
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U_(lookup("U")),
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Uold_(lookup("Uold")),
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force_(lookup("force")),
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coeffs_(6, 0.0)
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{
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setCoeffs();
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}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::translationODE::~translationODE()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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void Foam::translationODE::derivatives
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(
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const scalar x,
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const scalarField& y,
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scalarField& dydx
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) const
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{
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// Set the derivatives for displacement
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dydx[0] = y[3];
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dydx[1] = y[4];
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dydx[2] = y[5];
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dimensionedVector curX("curX", dimLength, vector(y[0], y[1], y[2]));
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dimensionedVector curU("curU", dimLength/dimTime, vector(y[3], y[4], y[5]));
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const vector& accel = A(curX, curU).value();
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dydx[3] = accel.x();
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dydx[4] = accel.y();
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dydx[5] = accel.z();
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}
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void Foam::translationODE::jacobian
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(
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const scalar x,
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const scalarField& y,
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scalarField& dfdx,
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scalarSquareMatrix& dfdy
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) const
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{
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notImplemented("translationODE::jacobian(...) const");
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}
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void Foam::translationODE::update(const scalar delta)
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{
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// Update position
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vector& Xval = Xrel_.value();
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Xval.x() = coeffs_[0];
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Xval.y() = coeffs_[1];
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Xval.z() = coeffs_[2];
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// Update velocity
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Uold_ = U_;
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vector& Uval = U_.value();
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Uval.x() = coeffs_[3];
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Uval.y() = coeffs_[4];
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Uval.z() = coeffs_[5];
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}
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bool Foam::translationODE::writeData(Ostream& os) const
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{
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os << *this;
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return os.good();
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}
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// * * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * //
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Foam::Ostream& Foam::operator<<(Ostream& os, const translationODE& sds)
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{
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os.writeKeyword("mass") << sds.mass_ << token::END_STATEMENT << endl;
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os.writeKeyword("equilibriumPosition") << sds.xEquilibrium_
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<< token::END_STATEMENT << endl;
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os.writeKeyword("linearSpring") << sds.linSpringCoeffs_
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<< token::END_STATEMENT << endl;
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os.writeKeyword("linearDamping") << sds.linDampingCoeffs_
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<< token::END_STATEMENT << endl;
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os.writeKeyword("Xrel") << sds.Xrel() << token::END_STATEMENT << endl;
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os.writeKeyword("U") << sds.U() << token::END_STATEMENT << endl;
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os.writeKeyword("Uold") << tab << sds.Uold() << token::END_STATEMENT << nl;
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os.writeKeyword("force") << sds.force() << token::END_STATEMENT << endl;
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return os;
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}
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// ************************************************************************* //
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251
src/ODE/translationODE/translationODE.H
Normal file
251
src/ODE/translationODE/translationODE.H
Normal file
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@ -0,0 +1,251 @@
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/*---------------------------------------------------------------------------*\
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========= |
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\\ / F ield | foam-extend: Open Source CFD
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\\ / O peration | Version: 4.0
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\\ / A nd | Web: http://www.foam-extend.org
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\\/ M anipulation | For copyright notice see file Copyright
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-------------------------------------------------------------------------------
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License
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This file is part of foam-extend.
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foam-extend is free software: you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation, either version 3 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
foam-extend is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
General Public License for more details.
|
||||
|
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You should have received a copy of the GNU General Public License
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along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
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Class
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translationODE
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Description
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Ordinary differential equation for three degrees of freedom solid
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body translation
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Author
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Hrvoje Jasak
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Dubravko Matijasevic
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SourceFiles
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translationODEI.H
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translationODE.C
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\*---------------------------------------------------------------------------*/
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#ifndef translationODE_H
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#define translationODE_H
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#include "ODE.H"
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#include "IOdictionary.H"
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#include "dimensionedTypes.H"
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#include "dimensionedDiagTensor.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class translationODE Declaration
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\*---------------------------------------------------------------------------*/
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class translationODE
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:
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public IOdictionary,
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public ODE
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{
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// Private data
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// Body data
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//- Mass
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dimensionedScalar mass_;
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// Platform variables
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//- Spring equilibrium position for translation
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const dimensionedVector xEquilibrium_;
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//- Linear spring coeffs
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const dimensionedDiagTensor linSpringCoeffs_;
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//- Linear damping coeffs
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const dimensionedDiagTensor linDampingCoeffs_;
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// Body position and rotation variables
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//- Displacement relative to spring equilibrium
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dimensionedVector Xrel_;
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//- Velocity of mass centroid
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dimensionedVector U_;
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//- Velocity of mass centroid at previous time-step
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dimensionedVector Uold_;
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// External forces
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//- Force driving the motion
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dimensionedVector force_;
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//- ODE coefficients
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scalarField coeffs_;
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// Private Member Functions
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//- Disallow default bitwise copy construct
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translationODE(const translationODE&);
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//- Disallow default bitwise assignment
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void operator=(const translationODE&);
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//- Set ODE coefficients from position and rotation
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inline void setCoeffs();
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// Variables in relative coordinate system (solved for)
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//- Return acceleration in relative coordinate system
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// given current values of relative displacement and velocity
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dimensionedVector A
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(
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const dimensionedVector& xR,
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const dimensionedVector& uR
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) const;
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public:
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// //- Runtime type information
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// TypeName("translationODE");
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// Constructors
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//- Construct from dictionary
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translationODE(const IOobject& io);
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// Destructor
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virtual ~translationODE();
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// Member Functions
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//- Return mass
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inline const dimensionedScalar& mass() const;
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// Variables in relative coordinate system (solved for)
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//- Return displacement in relative coordinate system
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inline const dimensionedVector& Xrel() const;
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// Displacement and rotation in the absolute coordinate system
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//- Return position of origin in absolute coordinate system
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inline dimensionedVector X() const;
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//- Return velocity of origin
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inline const dimensionedVector& U() const;
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//- Return velocity of origin for the previous time-step
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inline const dimensionedVector& Uold() const;
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//- Return acceleration of origin
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inline dimensionedVector A() const;
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// Average motion per time-step
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//- Return average velocity of origin
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inline dimensionedVector Uaverage() const;
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// Force
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//- Return force
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inline const dimensionedVector& force() const;
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//- Return access to force
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inline dimensionedVector& force();
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// ODE parameters
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//- Return number of equations
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virtual label nEqns() const
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{
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return 6;
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}
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//- Return reference to interpolation coefficients
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virtual scalarField& coeffs()
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{
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return coeffs_;
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}
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//- Return reference to interpolation coefficients
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virtual const scalarField& coeffs() const
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{
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return coeffs_;
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}
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//- Return derivatives
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virtual void derivatives
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(
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const scalar x,
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const scalarField& y,
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scalarField& dydx
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) const;
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//- Return Jacobian
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virtual void jacobian
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(
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const scalar x,
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const scalarField& y,
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scalarField& dfdx,
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scalarSquareMatrix& dfdy
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) const;
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//- Update ODE after the solution, advancing by delta
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virtual void update(const scalar delta);
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//- WriteData member function required by regIOobject
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bool writeData(Ostream&) const;
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// Ostream operator
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friend Ostream& operator<<(Ostream&, const translationODE&);
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#include "translationODEI.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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94
src/ODE/translationODE/translationODEI.H
Normal file
94
src/ODE/translationODE/translationODEI.H
Normal file
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@ -0,0 +1,94 @@
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/*---------------------------------------------------------------------------*\
|
||||
========= |
|
||||
\\ / F ield | foam-extend: Open Source CFD
|
||||
\\ / O peration | Version: 4.0
|
||||
\\ / A nd | Web: http://www.foam-extend.org
|
||||
\\/ M anipulation | For copyright notice see file Copyright
|
||||
-------------------------------------------------------------------------------
|
||||
License
|
||||
This file is part of foam-extend.
|
||||
|
||||
foam-extend is free software: you can redistribute it and/or modify it
|
||||
under the terms of the GNU General Public License as published by the
|
||||
Free Software Foundation, either version 3 of the License, or (at your
|
||||
option) any later version.
|
||||
|
||||
foam-extend is distributed in the hope that it will be useful, but
|
||||
WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with foam-extend. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
Class
|
||||
translationODE
|
||||
|
||||
Description
|
||||
Ordinary differential equation for three degrees of freedom
|
||||
solid body translation
|
||||
|
||||
Author
|
||||
Hrvoje Jasak
|
||||
Dubravko Matijasevic
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
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|
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
|
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const Foam::dimensionedScalar& Foam::translationODE::mass() const
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{
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return mass_;
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}
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const Foam::dimensionedVector& Foam::translationODE::Xrel() const
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{
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return Xrel_;
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}
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Foam::dimensionedVector Foam::translationODE::X() const
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{
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return xEquilibrium_ + Xrel();
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}
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const Foam::dimensionedVector& Foam::translationODE::U() const
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{
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return U_;
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}
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|
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const Foam::dimensionedVector& Foam::translationODE::Uold() const
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{
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return Uold_;
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}
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Foam::dimensionedVector Foam::translationODE::A() const
|
||||
{
|
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return A(Xrel(), U());
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}
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Foam::dimensionedVector Foam::translationODE::Uaverage() const
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||||
{
|
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return 0.5*(U_ + Uold_);
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::translationODE::force() const
|
||||
{
|
||||
return force_;
|
||||
}
|
||||
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||||
|
||||
Foam::dimensionedVector& Foam::translationODE::force()
|
||||
{
|
||||
return force_;
|
||||
}
|
||||
|
||||
|
||||
// ************************************************************************* //
|
||||
Reference in a new issue