Restructured sixDOFODE interface
Removed implementation specific data and left only essential interface for coupling with CFD solver.
This commit is contained in:
Vuko Vukcevic
parent
89ef2f50fc
commit
d4ed7d23d1
8 changed files with 97 additions and 377 deletions
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@ -51,6 +51,9 @@ int main(int argc, char *argv[])
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sixDOFBodies structure(runTime);
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OFstream of(runTime.path()/"motion.dat");
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// Write header for output file
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of << "# Time, CoG_x, CoG_y, CoG_z, omega_x, omega_y, omega_z" << endl;
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Info<< "\nStarting time loop\n" << endl;
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for (runTime++; !runTime.end(); runTime++)
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@ -73,11 +76,14 @@ int main(int argc, char *argv[])
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<< structure()[bodyI].omegaAverage().value() << nl
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<< "Current omega in time instant = "
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<< structure()[bodyI].omega().value() << nl
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<< "Average omegaAbs in time step = "
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<< structure()[bodyI].omegaAverageAbsolute().value() << nl
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<< endl;
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of << structure()[bodyI].X().value().x() << tab;
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of << structure()[bodyI].X().value().x() << tab
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<< structure()[bodyI].X().value().y() << tab
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<< structure()[bodyI].X().value().z() << tab
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<< structure()[bodyI].omega().value().x() << tab
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<< structure()[bodyI].omega().value().y() << tab
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<< structure()[bodyI].omega().value().z() << tab;
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}
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of << endl;
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@ -40,9 +40,7 @@ Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT)
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{
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vector ur = - *( inv(I + rotT) & (I - rotT) );
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// Scaling to a unit vector. HJ, problems with round-off
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// HJ, 4/Aug/2008
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// Scaling to a unit vector. Problems with round-off. HJ, 4/Aug/2008
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if (mag(ur) > SMALL)
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{
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return ur/(mag(ur) + SMALL);
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@ -50,8 +48,7 @@ Foam::vector Foam::finiteRotation::rotVector(const tensor& rotT)
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else
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{
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// Rotation vector is undertermined at zero rotation
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// Returning arbitrary unit vector
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// HJ, 4/Mar/2015
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// Returning arbitrary unit vector. HJ, 4/Mar/2015
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return vector(0, 0, 1);
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}
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}
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@ -170,7 +170,7 @@ Foam::tensor Foam::geometricSixDOF::expMap(const vector& rotInc) const
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{
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tensor R;
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// Calculate the magnitude of the rotation increment vector
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// Calculate the magnitude of the rotational increment vector
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const scalar magRotInc = mag(rotInc);
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if (magRotInc < rotIncTensorTol_)
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@ -202,7 +202,7 @@ Foam::vector Foam::geometricSixDOF::dexpMap
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{
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vector rotIncDot;
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// Calculate the magnitude of the rotation increment vector
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// Calculate the magnitude of the rotational increment vector
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const scalar magRotInc = mag(rotInc);
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if (magRotInc < rotIncRateTol_)
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@ -241,11 +241,14 @@ Foam::geometricSixDOF::geometricSixDOF(const IOobject& io)
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Xrel_(dict().lookup("Xrel")),
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U_(dict().lookup("U")),
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Uaverage_(U_),
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Uaverage_("Uaverage", U_),
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rotation_(tensor(dict().lookup("rotationTensor"))),
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rotIncrement_
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(
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dict().lookupOrDefault<tensor>("rotationIncrementTensor", tensor::zero)
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),
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omega_(dict().lookup("omega")),
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omegaAverage_(omega_),
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omegaAverageAbsolute_(omega_),
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omegaAverage_("omegaAverage", omega_),
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nEqns_(),
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coeffs_(),
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@ -326,11 +329,6 @@ Foam::geometricSixDOF::geometricSixDOF
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rotation_(gsd.rotation_),
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omega_(gsd.omega_.name(), gsd.omega_),
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omegaAverage_(gsd.omegaAverage_.name(), gsd.omegaAverage_),
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omegaAverageAbsolute_
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(
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gsd.omegaAverageAbsolute_.name(),
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gsd.omegaAverageAbsolute_
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),
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nEqns_(gsd.nEqns_),
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coeffs_(gsd.coeffs_),
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@ -401,80 +399,6 @@ const Foam::dimensionedVector& Foam::geometricSixDOF::Uaverage() const
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}
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const Foam::finiteRotation& Foam::geometricSixDOF::rotation() const
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{
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return rotation_;
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}
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Foam::vector Foam::geometricSixDOF::rotVector() const
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{
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return rotation_.rotVector();
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}
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Foam::dimensionedScalar Foam::geometricSixDOF::rotAngle() const
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{
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return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle());
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}
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void Foam::geometricSixDOF::setXrel(const vector& x)
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{
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Xrel_.value() = x;
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// Set X in coefficients
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coeffs_[0] = x.x();
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coeffs_[1] = x.y();
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coeffs_[2] = x.z();
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}
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void Foam::geometricSixDOF::setU(const vector& U)
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{
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U_.value() = U;
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Uaverage_ = U_;
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// Set U in coefficients
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coeffs_[3] = U.x();
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coeffs_[4] = U.y();
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coeffs_[5] = U.z();
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}
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void Foam::geometricSixDOF::setRotation(const HamiltonRodriguezRot& rot)
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{
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// Set increment rotation vector to zero
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coeffs_[9] = 0;
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coeffs_[10] = 0;
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coeffs_[11] = 0;
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}
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void Foam::geometricSixDOF::setOmega(const vector& omega)
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{
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omega_.value() = omega;
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omegaAverage_ = omega_;
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omegaAverageAbsolute_ = omega_;
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// Set omega in coefficients
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coeffs_[6] = omega.x();
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coeffs_[7] = omega.y();
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coeffs_[8] = omega.z();
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}
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void Foam::geometricSixDOF::setReferentRotation
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(
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const HamiltonRodriguezRot& rot
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)
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{
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referentRotation_ = rot;
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referentMotionConstraints_ = true;
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}
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void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
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{
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// First set the state in base class subobject
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@ -490,7 +414,6 @@ void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
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rotation_ = gsd.rotation_;
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omega_ = gsd.omega_;
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omegaAverage_ = gsd.omegaAverage_;
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omegaAverageAbsolute_ = gsd.omegaAverageAbsolute_;
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// Copy ODE coefficients: this carries actual ODE state
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// HJ, 23/Mar/2015
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@ -507,44 +430,27 @@ void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
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}
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Foam::vector Foam::geometricSixDOF::rotVectorAverage() const
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{
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return rotation_.rotVectorAverage();
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}
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const Foam::dimensionedVector& Foam::geometricSixDOF::omegaAverage() const
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{
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return omegaAverage_;
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}
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const Foam::dimensionedVector&
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Foam::geometricSixDOF::omegaAverageAbsolute() const
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{
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return omegaAverageAbsolute_;
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}
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Foam::tensor Foam::geometricSixDOF::toRelative() const
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{
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// Note: using rotation tensor directly since we are integrating rotational
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// increment vector
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return rotation_.rotTensor();
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return rotation_;
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}
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Foam::tensor Foam::geometricSixDOF::toAbsolute() const
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{
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// Note: using rotation tensor directly since we are integrating rotational
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// increment vector
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return rotation_.rotTensor().T();
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return rotation_.T();
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}
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const Foam::tensor& Foam::geometricSixDOF::rotIncrementTensor() const
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{
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return rotation_.rotIncrementTensor();
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return rotIncrement_;
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}
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@ -569,7 +475,7 @@ void Foam::geometricSixDOF::derivatives
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const vector rotIncrementVector(y[9], y[10], y[11]);
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// Calculate current rotation tensor obtained with exponential map
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const tensor curRot = (expMap(rotIncrementVector) & rotation_.rotTensor());
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const tensor curRot = (expMap(rotIncrementVector) & rotation_);
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// Calculate translational acceleration using current rotation
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const vector accel = A(curX, curU, curRot).value();
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@ -612,7 +518,7 @@ void Foam::geometricSixDOF::update(const scalar delta)
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// Translation
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// Update displacement
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vector Xold = Xrel_.value();
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const vector Xold = Xrel_.value();
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vector& Xval = Xrel_.value();
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@ -638,27 +544,28 @@ void Foam::geometricSixDOF::update(const scalar delta)
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// Rotation
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// Update omega
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const vector omegaOld = omega_.value();
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vector& omegaVal = omega_.value();
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omegaVal.x() = coeffs_[6];
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omegaVal.y() = coeffs_[7];
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omegaVal.z() = coeffs_[8];
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// Update rotation with final increment vector
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rotation_.updateRotationWithIncrement
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(
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expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11]))
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);
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// Update rotational increment tensor
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rotIncrement_ = expMap(vector(coeffs_[9], coeffs_[10], coeffs_[11]));
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// Update rotational tensor
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rotation_ = (rotIncrement_ & rotation_);
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// Reset increment vector in coefficients for the next step
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coeffs_[9] = 0;
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coeffs_[10] = 0;
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coeffs_[11] = 0;
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omegaAverage_.value() = rotation_.omegaAverage(delta);
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// Calculate omegaAverageAbsolute
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omegaAverageAbsolute_.value() = rotation_.omegaAverageAbsolute(delta);
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// Consider calculating average omega using rotational tensor and rotational
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// increment tensors
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omegaAverage_.value() = 0.5*(omegaVal + omegaOld);
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}
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@ -671,26 +578,28 @@ bool Foam::geometricSixDOF::writeData(Ostream& os) const
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os.writeKeyword("type") << tab << type() << token::END_STATEMENT << endl;
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// Write data
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os.writeKeyword("Xrel") << tab << this->Xrel()
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os.writeKeyword("Xrel") << tab << Xrel_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("U") << tab << this->U() << token::END_STATEMENT << nl;
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os.writeKeyword("rotationTensor") << tab << this->toRelative()
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os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl;
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os.writeKeyword("rotationTensor") << tab << rotation_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("omega") << tab << this->omega()
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os.writeKeyword("rotationIncrementTensor") << tab << rotIncrement_
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<< token::END_STATEMENT << nl;
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os.writeKeyword("omega") << tab << omega_
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<< token::END_STATEMENT << nl << nl;
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os.writeKeyword("fixedSurge") << tab << this->fixedSurge_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedSway") << tab << this->fixedSway_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedHeave") << tab << this->fixedHeave_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedRoll") << tab << this->fixedRoll_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedPitch") << tab << this->fixedPitch_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedYaw") << tab << this->fixedYaw_ <<
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token::END_STATEMENT << endl;
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os.writeKeyword("fixedSurge") << tab << fixedSurge_ <<
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token::END_STATEMENT << nl;
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os.writeKeyword("fixedSway") << tab << fixedSway_ <<
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token::END_STATEMENT << nl;
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os.writeKeyword("fixedHeave") << tab << fixedHeave_ <<
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token::END_STATEMENT << nl;
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os.writeKeyword("fixedRoll") << tab << fixedRoll_ <<
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token::END_STATEMENT << nl;
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os.writeKeyword("fixedPitch") << tab << fixedPitch_ <<
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token::END_STATEMENT << nl;
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os.writeKeyword("fixedYaw") << tab << fixedYaw_ <<
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token::END_STATEMENT << nl << endl;
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return os.good();
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}
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@ -79,24 +79,22 @@ class geometricSixDOF
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//- Velocity of mass centroid
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dimensionedVector U_;
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//- Average velocity of mass centroid at previous time-step
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//- Average velocity of mass centroid (evaluated at midstep)
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dimensionedVector Uaverage_;
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//- Finite rotation. Note: changed during solution process
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mutable finiteRotation rotation_;
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//- Rotation tensor
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tensor rotation_;
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//- Rotational increment tensor
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tensor rotIncrement_;
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//- Rotational velocity about mass centroid
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dimensionedVector omega_;
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// Average variables that need to be stored
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//- Average rotational velocity in relative coordinate system
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// (evaluated at midstep)
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dimensionedVector omegaAverage_;
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//- Average rotational velocity in absolute coordinate system
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dimensionedVector omegaAverageAbsolute_;
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// ODE controls
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@ -107,7 +105,7 @@ class geometricSixDOF
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scalarField coeffs_;
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//- Motion constraints (given as fixed motion components)
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// Motion constraints (given as fixed motion components)
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//- Fixed surge (x-translation)
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Switch fixedSurge_;
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@ -236,7 +234,7 @@ public:
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virtual const dimensionedVector& omega() const;
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// Displacement and rotation in the absolute coordinate system
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// Displacement and velocity in the absolute coordinate system
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//- Return position of origin in absolute coordinate system
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virtual dimensionedVector X() const;
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@ -244,56 +242,22 @@ public:
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//- Return velocity of origin
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virtual const dimensionedVector& U() const;
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//- Return average velocity of origin for the previous time-step
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//- Return average velocity of origin (evaluated at midstep)
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virtual const dimensionedVector& Uaverage() const;
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//- Return finite rotation
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virtual const finiteRotation& rotation() const;
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//- Return rotational vector of body
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virtual vector rotVector() const;
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//- Return rotation angle of body
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virtual dimensionedScalar rotAngle() const;
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// Non-access control for setting state variables
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//- Set position of origin
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virtual void setXrel(const vector& x);
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//- Set velocity of origin
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virtual void setU(const vector& u);
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//- Set rotational angle in relative coordinate system
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virtual void setRotation(const HamiltonRodriguezRot& rot);
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//- Set rotational velocity in relative coordinate system
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virtual void setOmega(const vector& omega);
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//- Set referent coordinate system to apply constraints
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virtual void setReferentRotation
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(
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const HamiltonRodriguezRot& rot
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);
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//- Set ODE parameters from another ODE
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virtual void setState(const sixDOFODE&);
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// Average motion per time-step
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//- Return average rotational vector of body
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virtual vector rotVectorAverage() const;
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//- Return average rotational velocity in relative coordinate
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// system
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// system (evaluated at midstep)
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virtual const dimensionedVector& omegaAverage() const;
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//- Return average rotational velocity in absolute coordinate
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// system
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virtual const dimensionedVector& omegaAverageAbsolute() const;
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// Rotations
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@ -360,6 +324,7 @@ public:
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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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// Write controls
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//- WriteData member function required by regIOobject
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@ -198,15 +198,15 @@ Foam::quaternionSixDOF::quaternionSixDOF(const IOobject& io)
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Xrel_(dict().lookup("Xrel")),
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U_(dict().lookup("U")),
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Uaverage_(U_),
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Uaverage_("Uaverage", U_),
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rotation_
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(
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vector(dict().lookup("rotationVector")),
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dimensionedScalar(dict().lookup("rotationAngle")).value()
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),
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omega_(dict().lookup("omega")),
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omegaAverage_(omega_),
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omegaAverageAbsolute_(omega_),
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omegaAverage_("omegaAverage", omega_),
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omegaAverageAbsolute_("omegaAverageAbsolute", omega_),
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coeffs_(13, 0.0),
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@ -347,89 +347,13 @@ const Foam::dimensionedVector& Foam::quaternionSixDOF::U() const
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return U_;
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}
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const Foam::dimensionedVector& Foam::quaternionSixDOF::Uaverage() const
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{
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return Uaverage_;
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}
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const Foam::finiteRotation& Foam::quaternionSixDOF::rotation() const
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{
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return rotation_;
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}
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Foam::vector Foam::quaternionSixDOF::rotVector() const
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{
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return rotation_.rotVector();
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}
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Foam::dimensionedScalar Foam::quaternionSixDOF::rotAngle() const
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{
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return dimensionedScalar("rotAngle", dimless, rotation_.rotAngle());
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}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setXrel(const vector& x)
|
||||
{
|
||||
Xrel_.value() = x;
|
||||
|
||||
// Set X in coefficients
|
||||
coeffs_[0] = x.x();
|
||||
coeffs_[1] = x.y();
|
||||
coeffs_[2] = x.z();
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setU(const vector& U)
|
||||
{
|
||||
U_.value() = U;
|
||||
Uaverage_ = U_;
|
||||
|
||||
// Set U in coefficients
|
||||
coeffs_[3] = U.x();
|
||||
coeffs_[4] = U.y();
|
||||
coeffs_[5] = U.z();
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setRotation(const HamiltonRodriguezRot& rot)
|
||||
{
|
||||
// Cannot call update rotation: simply set up coefficients
|
||||
// HJ, 23/Mar/2015
|
||||
|
||||
coeffs_[9] = rot.e0();
|
||||
coeffs_[10] = rot.e1();
|
||||
coeffs_[11] = rot.e2();
|
||||
coeffs_[12] = rot.e3();
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setOmega(const vector& omega)
|
||||
{
|
||||
omega_.value() = omega;
|
||||
omegaAverage_ = omega_;
|
||||
omegaAverageAbsolute_ = omega_;
|
||||
|
||||
// Set omega in coefficients
|
||||
coeffs_[6] = omega.x();
|
||||
coeffs_[7] = omega.y();
|
||||
coeffs_[8] = omega.z();
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setReferentRotation
|
||||
(
|
||||
const HamiltonRodriguezRot& rot
|
||||
)
|
||||
{
|
||||
referentRotation_ = rot;
|
||||
|
||||
referentMotionConstraints_ = true;
|
||||
}
|
||||
|
||||
|
||||
void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
|
||||
{
|
||||
// First set the state in base class subobject
|
||||
|
|
@ -462,25 +386,12 @@ void Foam::quaternionSixDOF::setState(const sixDOFODE& sd)
|
|||
}
|
||||
|
||||
|
||||
Foam::vector Foam::quaternionSixDOF::rotVectorAverage() const
|
||||
{
|
||||
return rotation_.rotVectorAverage();
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector& Foam::quaternionSixDOF::omegaAverage() const
|
||||
{
|
||||
return omegaAverage_;
|
||||
}
|
||||
|
||||
|
||||
const Foam::dimensionedVector&
|
||||
Foam::quaternionSixDOF::omegaAverageAbsolute() const
|
||||
{
|
||||
return omegaAverageAbsolute_;
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::quaternionSixDOF::toRelative() const
|
||||
{
|
||||
return rotation_.eCurrent().R();
|
||||
|
|
@ -642,14 +553,15 @@ bool Foam::quaternionSixDOF::writeData(Ostream& os) const
|
|||
os.writeKeyword("type") << tab << type() << token::END_STATEMENT << endl;
|
||||
|
||||
// Write data
|
||||
os.writeKeyword("Xrel") << tab << this->Xrel()
|
||||
os.writeKeyword("Xrel") << tab << Xrel_
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("U") << tab << this->U() << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationVector") << tab << this->rotVector()
|
||||
os.writeKeyword("U") << tab << U_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationVector") << tab << rotation_.rotVector()
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationAngle") << tab << this->rotAngle()
|
||||
os.writeKeyword("rotationAngle") << tab
|
||||
<< dimensionedScalar("rotAngle", dimless, rotation_.rotAngle())
|
||||
<< token::END_STATEMENT << nl;
|
||||
os.writeKeyword("omega") << tab << this->omega()
|
||||
os.writeKeyword("omega") << tab << omega_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("fixedSurge") << tab << fixedSurge_ <<
|
||||
|
|
|
|||
|
|
@ -58,7 +58,7 @@ class quaternionSixDOF
|
|||
{
|
||||
// Private data
|
||||
|
||||
// Initial body state variables
|
||||
// Body state variables
|
||||
|
||||
//- Displacement relative to spring equilibrium
|
||||
dimensionedVector Xrel_;
|
||||
|
|
@ -66,7 +66,7 @@ class quaternionSixDOF
|
|||
//- Velocity of mass centroid
|
||||
dimensionedVector U_;
|
||||
|
||||
//- Average velocity of mass centroid at previous time-step
|
||||
//- Average velocity of mass centroid (evaluated at midstep)
|
||||
dimensionedVector Uaverage_;
|
||||
|
||||
//- Finite rotation
|
||||
|
|
@ -75,10 +75,8 @@ class quaternionSixDOF
|
|||
//- Rotational velocity about mass centroid
|
||||
dimensionedVector omega_;
|
||||
|
||||
|
||||
// Average variables that need to be stored
|
||||
|
||||
//- Average rotational velocity in relative coordinate system
|
||||
// (evaluated at midstep)
|
||||
dimensionedVector omegaAverage_;
|
||||
|
||||
//- Average rotational velocity in absolute coordinate system
|
||||
|
|
@ -89,7 +87,7 @@ class quaternionSixDOF
|
|||
scalarField coeffs_;
|
||||
|
||||
|
||||
//- Motion constraints (given as fixed motion components)
|
||||
// Motion constraints (given as fixed motion components)
|
||||
|
||||
//- Fixed surge (x-translation)
|
||||
Switch fixedSurge_;
|
||||
|
|
@ -201,7 +199,7 @@ public:
|
|||
virtual const dimensionedVector& omega() const;
|
||||
|
||||
|
||||
// Displacement and rotation in the absolute coordinate system
|
||||
// Displacement and velocity in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const;
|
||||
|
|
@ -209,56 +207,22 @@ public:
|
|||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const;
|
||||
|
||||
//- Return average velocity of origin for the previous time-step
|
||||
//- Return average velocity of origin (evaluated at midstep)
|
||||
virtual const dimensionedVector& Uaverage() const;
|
||||
|
||||
//- Return finite rotation
|
||||
virtual const finiteRotation& rotation() const;
|
||||
|
||||
//- Return rotational vector of body
|
||||
virtual vector rotVector() const;
|
||||
|
||||
//- Return rotation angle of body
|
||||
virtual dimensionedScalar rotAngle() const;
|
||||
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set position of origin
|
||||
virtual void setXrel(const vector& x);
|
||||
|
||||
//- Set velocity of origin
|
||||
virtual void setU(const vector& u);
|
||||
|
||||
//- Set rotational angle in relative coordinate system
|
||||
virtual void setRotation(const HamiltonRodriguezRot& rot);
|
||||
|
||||
//- Set rotational velocity in relative coordinate system
|
||||
virtual void setOmega(const vector& omega);
|
||||
|
||||
//- Set referent coordinate system to apply constraints
|
||||
virtual void setReferentRotation
|
||||
(
|
||||
const HamiltonRodriguezRot& rot
|
||||
);
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational vector of body
|
||||
virtual vector rotVectorAverage() const;
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system
|
||||
// system (evaluated at midstep)
|
||||
virtual const dimensionedVector& omegaAverage() const;
|
||||
|
||||
//- Return average rotational velocity in absolute coordinate
|
||||
// system
|
||||
virtual const dimensionedVector& omegaAverageAbsolute() const;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
|
|
@ -325,6 +289,7 @@ public:
|
|||
//- Update ODE after the solution, advancing by delta
|
||||
virtual void update(const scalar delta);
|
||||
|
||||
|
||||
// Write controls
|
||||
|
||||
//- WriteData member function required by regIOobject
|
||||
|
|
|
|||
|
|
@ -48,7 +48,7 @@ defineRunTimeSelectionTable(sixDOFODE, dictionary);
|
|||
|
||||
}
|
||||
|
||||
// * * * * * * * * * * * * Protected Member Functions * * * * * * * * * * * //
|
||||
// * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * * * //
|
||||
|
||||
void Foam::sixDOFODE::aitkensRelaxation
|
||||
(
|
||||
|
|
@ -173,7 +173,7 @@ void Foam::sixDOFODE::relaxAcceleration
|
|||
{
|
||||
if (mag(minRelFactor - maxRelFactor) < SMALL)
|
||||
{
|
||||
// Fixed relaxation
|
||||
// Fixed relaxation
|
||||
relaxFactorT_ = minRelFactor;
|
||||
relaxFactorR_ = minRelFactor;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -135,19 +135,19 @@ class sixDOFODE
|
|||
|
||||
// Private Member Functions
|
||||
|
||||
//- Disallow default bitwise copy construct
|
||||
sixDOFODE(const sixDOFODE&);
|
||||
// Copy control
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const sixDOFODE&);
|
||||
//- Disallow default bitwise copy construct
|
||||
sixDOFODE(const sixDOFODE&);
|
||||
|
||||
//- Disallow default bitwise assignment
|
||||
void operator=(const sixDOFODE&);
|
||||
|
||||
|
||||
protected:
|
||||
// Aitkens relaxation helper function
|
||||
|
||||
// Protected Member Functions
|
||||
|
||||
//- Update Aitkens relaxation parameters
|
||||
void aitkensRelaxation(const scalar min, const scalar max);
|
||||
//- Update Aitkens relaxation parameters
|
||||
void aitkensRelaxation(const scalar min, const scalar max);
|
||||
|
||||
|
||||
public:
|
||||
|
|
@ -182,6 +182,7 @@ public:
|
|||
//- Return autoPtr to the selected sixDOFODE
|
||||
static autoPtr<sixDOFODE> New(const IOobject& io);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~sixDOFODE();
|
||||
|
|
@ -271,7 +272,7 @@ public:
|
|||
virtual const dimensionedVector& omega() const = 0;
|
||||
|
||||
|
||||
// Displacement and rotation in the absolute coordinate system
|
||||
// Displacement and velocity in the absolute coordinate system
|
||||
|
||||
//- Return position of origin in absolute coordinate system
|
||||
virtual dimensionedVector X() const = 0;
|
||||
|
|
@ -279,57 +280,22 @@ public:
|
|||
//- Return velocity of origin
|
||||
virtual const dimensionedVector& U() const = 0;
|
||||
|
||||
//- Return average velocity of origin for the previous time-step
|
||||
//- Return average velocity of origin (evaluated at midstep)
|
||||
virtual const dimensionedVector& Uaverage() const = 0;
|
||||
|
||||
//- Return finite rotation
|
||||
virtual const finiteRotation& rotation() const = 0;
|
||||
|
||||
//- Return rotational vector of body
|
||||
virtual vector rotVector() const = 0;
|
||||
|
||||
//- Return rotation angle of body
|
||||
virtual dimensionedScalar rotAngle() const = 0;
|
||||
|
||||
|
||||
// Non-access control for setting state variables
|
||||
|
||||
//- Set position of origin
|
||||
virtual void setXrel(const vector& x) = 0;
|
||||
|
||||
//- Set velocity of origin
|
||||
virtual void setU(const vector& u) = 0;
|
||||
|
||||
//- Set rotational angle in relative coordinate system
|
||||
virtual void setRotation(const HamiltonRodriguezRot& rot) = 0;
|
||||
|
||||
//- Set rotational velocity in relative coordinate system
|
||||
virtual void setOmega(const vector& omega) = 0;
|
||||
|
||||
//- Set referent coordinate system to apply constraints
|
||||
virtual void setReferentRotation
|
||||
(
|
||||
const HamiltonRodriguezRot& rot
|
||||
) = 0;
|
||||
|
||||
//- Set ODE parameters from another ODE
|
||||
virtual void setState(const sixDOFODE&);
|
||||
|
||||
|
||||
// Average motion per time-step
|
||||
|
||||
//- Return average rotational vector of body
|
||||
virtual vector rotVectorAverage() const = 0;
|
||||
|
||||
//- Return average rotational velocity in relative coordinate
|
||||
// system
|
||||
// system (evaluated at midstep)
|
||||
virtual const dimensionedVector& omegaAverage() const = 0;
|
||||
|
||||
//- Return average rotational velocity in absolute coordinate
|
||||
// system
|
||||
virtual const dimensionedVector&
|
||||
omegaAverageAbsolute() const = 0;
|
||||
|
||||
|
||||
// Rotations
|
||||
|
||||
|
|
|
|||
Reference in a new issue