Implementation of constraints, part 1
This commit is contained in:
Vuko Vukcevic
Hrvoje Jasak
parent
58c25980da
commit
ef9664c191
7 changed files with 675 additions and 152 deletions
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@ -0,0 +1,78 @@
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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
|
||||
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/>.
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\*---------------------------------------------------------------------------*/
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#include "constantAngularAcceleration.H"
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#include "addToRunTimeSelectionTable.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace Foam
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{
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defineTypeNameAndDebug(constantAngularAcceleration, 0);
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addToRunTimeSelectionTable
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(
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rotationalConstraint,
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constantAngularAcceleration,
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word
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);
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::constantAngularAcceleration::constantAngularAcceleration
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(
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const word& name,
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const sixDOFODE& sixDOFODE,
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const dictionary& dict
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)
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:
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rotationalConstraint(name, sixDOFODE, dict),
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dir_(dict.lookup("constraintDirection")),
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alpha_(readScalar(dict.lookup("angularAcceleration"))),
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inGlobal_(dict.lookup("inGlobalCoordinateSystem"))
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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::constantAngularAcceleration::~constantAngularAcceleration()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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const Foam::vector
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Foam::constantAngularAcceleration::matrixContribution() const
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{
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}
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const Foam::vector
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Foam::constantAngularAcceleration::sourceContribution() const
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{
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}
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// ************************************************************************* //
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@ -0,0 +1,123 @@
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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
|
||||
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
|
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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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Foam::constantAngularAcceleration
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Description
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Rotational constraint defined by constant angular acceleration:
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g(omegaDot) = omegaDot - a = 0.
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Author
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Viktor Pandza, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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SourceFiles
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constantAngularAcceleration.C
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\*---------------------------------------------------------------------------*/
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#ifndef constantAngularAcceleration_H
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#define constantAngularAcceleration_H
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#include "rotationalConstraint.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class constantAngularAcceleration Declaration
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\*---------------------------------------------------------------------------*/
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class constantAngularAcceleration
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:
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public rotationalConstraint
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{
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// Private data
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//- Direction of the constraint (unit vector)
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const vector dir_;
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//- Constant value of angular acceleration
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const scalar alpha_;
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//- Switch whether the constraint should be applied in local or global
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// coordinate system
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const Switch inGlobal_;
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// Private Member Functions
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//- Disallow default bitwise copy construct
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constantAngularAcceleration(const constantAngularAcceleration&);
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//- Disallow default bitwise assignment
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void operator=(const constantAngularAcceleration&);
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public:
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//- Runtime type information
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TypeName("constantAngularAcceleration");
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// Constructors
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//- Construct from dictionary
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constantAngularAcceleration
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(
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const word& name,
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const sixDOFODE& sixDOFODE,
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const dictionary& dict
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);
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// Destructor
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virtual ~constantAngularAcceleration();
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// Member Functions
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// Constraint specific functions
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//- Return matrix contribution defined by constraint, f(t)
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const vector matrixContribution() const = 0;
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//- Return source contribution defined by constraint, a(t)
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const vector sourceContribution() const = 0;
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};
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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} // End namespace Foam
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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#endif
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// ************************************************************************* //
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@ -0,0 +1,99 @@
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/*---------------------------------------------------------------------------*\
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========= |
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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/>.
|
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\*---------------------------------------------------------------------------*/
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#include "rotationalConstraint.H"
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// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
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namespace Foam
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{
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defineTypeNameAndDebug(rotationalConstraint, 0);
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defineRunTimeSelectionTable(rotationalConstraint, word);
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}
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// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
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Foam::rotationalConstraint::rotationalConstraint
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(
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const word& name,
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const sixDOFODE& sixDOFODE,
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const dictionary& dict
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)
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:
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name_(name),
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sixDOFODE_(sixDOFODE)
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{}
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// * * * * * * * * * * * * * * * * Destructor * * * * * * * * * * * * * * * //
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Foam::rotationalConstraint::~rotationalConstraint()
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{}
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// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
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Foam::autoPtr<Foam::rotationalConstraint> Foam::rotationalConstraint::New
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(
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const word& name,
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const sixDOFODE& sixDOFODE,
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const dictionary& dict
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)
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{
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const word constraintType(dict.lookup("type"));
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wordConstructorTable::iterator cstrIter =
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wordConstructorTablePtr_->find(constraintTypeType);
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if (cstrIter == wordConstructorTablePtr_->end())
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{
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FatalErrorIn
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(
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"rotationalConstraint::New"
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"\n("
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"\n const word& name,"
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"\n const sixDOFODE& sixDOFODE,"
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"\n const dictionary& dict,"
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"\n)"
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) << "Unknown rotation constraint type: " << constraintType
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<< endl << endl
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<< "Valid rotation constraint types are: " << endl
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<< wordConstructorTablePtr_->sortedToc()
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<< exit(FatalError);
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}
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return autoPtr<rotationalConstraint>
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(
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cstrIter()
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(
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name,
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sixDOFODE,
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dict
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)
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);
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}
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// ************************************************************************* //
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|
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@ -0,0 +1,196 @@
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/*---------------------------------------------------------------------------*\
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========= |
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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/>.
|
||||
|
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Class
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Foam::rotationalConstraint
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Description
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Abstract base class containing interface for rotation constraints used
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within sixDOFODE classes.
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The constraint is implicitly defined as:
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g(omegaDot, t) = f(t)*omegaDot + a(t) = 0,
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where omegaDot is angular acceleration.
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Interface provides all the necessary data for inserting the constraint into
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the resulting linear system via Lagrangian multipliers:
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1. matrixContribution() - corresponding to f(t) (prefactor multiplying
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omegaDot), to be inserted into the matrix.
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2. sourceContribution() - corresponding to a(t), to be inserted into right
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hand side vector.
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Author
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Viktor Pandza, FSB Zagreb. All rights reserved.
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Vuko Vukcevic, FSB Zagreb. All rights reserved.
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SourceFiles
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rotationalConstraint.C
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\*---------------------------------------------------------------------------*/
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#ifndef rotationalConstraint_H
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#define rotationalConstraint_H
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#include "sixDOFODE.H"
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#include "typeInfo.H"
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#include "runTimeSelectionTables.H"
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#include "autoPtr.H"
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// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
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namespace Foam
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{
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/*---------------------------------------------------------------------------*\
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Class rotationalConstraint Declaration
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\*---------------------------------------------------------------------------*/
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class rotationalConstraint
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{
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// Private data
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//- Name of the constraint
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const word name_;
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//- Reference to underlying sixDOFODE
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const sixDOFODE& sixDOFODE_;
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// Private Member Functions
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//- Disallow default bitwise copy construct
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rotationalConstraint(const rotationalConstraint&);
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//- Disallow default bitwise assignment
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void operator=(const rotationalConstraint&);
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public:
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//- Runtime type information
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TypeName("rotationalConstraint");
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// Declare run-time constructor selection table
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declareRunTimeSelectionTable
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(
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autoPtr,
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rotationalConstraint,
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word,
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(
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const word& name,
|
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const sixDOFODE& sixDOFODE,
|
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const dictionary& dict
|
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),
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(name, sixDOFODE, dict)
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);
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//- Class used for the read-construction of
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// PtrLists of rotationalConstraint
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class iNew
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{
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const sixDOFODE& sixDOFODE_;
|
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|
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public:
|
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|
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iNew(const sixDOFODE& sixDOFODE)
|
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:
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sixDOFODE_(sixDOFODE)
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{}
|
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|
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autoPtr<rotationalConstraint> operator()(Istream& is) const
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{
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word name(is);
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dictionary dict(is);
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return rotationalConstraint::New(name, sixDOFODE_, dict);
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}
|
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};
|
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|
||||
|
||||
// Constructors
|
||||
|
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//- Construct from dictionary
|
||||
rotationalConstraint
|
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(
|
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const word& name,
|
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const sixDOFODE& sixDOFODE,
|
||||
const dictionary& dict
|
||||
);
|
||||
|
||||
|
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// Selectors
|
||||
|
||||
//- Return a reference to the selected rotationalConstraint
|
||||
static autoPtr<rotationalConstraint> New
|
||||
(
|
||||
const word& name,
|
||||
const sixDOFODE& sixDOFODE,
|
||||
const dictionary& dict
|
||||
);
|
||||
|
||||
|
||||
// Destructor
|
||||
|
||||
virtual ~rotationalConstraint();
|
||||
|
||||
|
||||
// Member Functions
|
||||
|
||||
// Access functions
|
||||
|
||||
//- Return const reference to name of the constraint
|
||||
const word& name() const
|
||||
{
|
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return name_;
|
||||
}
|
||||
|
||||
//- Return const reference to underlying sixDOFODE object
|
||||
const sixDOFODE& sixDOF() const
|
||||
{
|
||||
return sixDOFODE_;
|
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}
|
||||
|
||||
|
||||
// Constraint specific functions
|
||||
|
||||
//- Return matrix contribution defined by constraint, f(t)
|
||||
const vector matrixContribution() const = 0;
|
||||
|
||||
//- Return source contribution defined by constraint, a(t)
|
||||
const vector sourceContribution() const = 0;
|
||||
};
|
||||
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
} // End namespace Foam
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
#endif
|
||||
|
||||
// ************************************************************************* //
|
||||
|
|
@ -27,16 +27,17 @@ Class
|
|||
Description
|
||||
6-DOF solver using a geometric method for integration of rotations.
|
||||
|
||||
Run-time selectable constraints are handled via Lagrangian multipliers using
|
||||
the interface from sixDOFConstraint class.
|
||||
|
||||
Author
|
||||
Viktor Pandza, FSB Zagreb. All rights reserved.
|
||||
Vuko Vukcevic, FSB Zagreb. All rights reserved.
|
||||
|
||||
SourceFiles
|
||||
geometricSixDOF.C
|
||||
|
||||
\*---------------------------------------------------------------------------*/
|
||||
|
||||
#include "geometricSixDOF.H"
|
||||
#include "scalarSquareMatrix.H"
|
||||
#include "OutputControlDictionary.H"
|
||||
#include "addToRunTimeSelectionTable.H"
|
||||
|
||||
|
|
@ -74,19 +75,65 @@ Foam::dimensionedVector Foam::geometricSixDOF::A
|
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const tensor& R
|
||||
) const
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{
|
||||
// Fix the total force in global coordinate system
|
||||
dimensionedVector fAbs =
|
||||
// External force
|
||||
force()
|
||||
// Spring force in global coordinate system
|
||||
- (linSpringCoeffs() & xR)
|
||||
// Damping force in global coordinate system
|
||||
- (linDampingCoeffs() & uR);
|
||||
// Create a scalar square matrix representing Newton equations with
|
||||
// constraints and the corresponding source (right hand side vector).
|
||||
// Note: size of the matrix is 3 + number of constraints
|
||||
scalarField rhs(translationalConstraints_.size() + 3, 0.0);
|
||||
scalarSquareMatrix M(rhs.size(), 0.0);
|
||||
|
||||
// Constrain translation simply by setting the total force to zero
|
||||
constrainTranslation(fAbs.value());
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||||
// Insert mass and explicit forcing into the system. Note: translations are
|
||||
// solved in the global coordinate system
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||||
const dimensionedVector explicitForcing
|
||||
(
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||||
force() // External force
|
||||
- (linSpringCoeffs() & xR) // Spring force
|
||||
- (linDampingCoeffs() & uR); // Damping force
|
||||
);
|
||||
const vector& efVal = explicitForcing.value();
|
||||
const scalar& m = mass().value();
|
||||
|
||||
return fAbs/mass();
|
||||
forAll(efVal, dirI)
|
||||
{
|
||||
M[dirI][dirI] = m;
|
||||
|
||||
rhs[dirI] = efVal[dirI];
|
||||
}
|
||||
|
||||
// Insert contributions from the constraints
|
||||
forAll(translationalConstraints_, tcI)
|
||||
{
|
||||
// Get reference to current constraint
|
||||
const translationalConstraint& curTc = translationalConstraint_[tcI];
|
||||
|
||||
// Get matrix contribution from constraint
|
||||
const vector mc = curTc.matrixContribution();
|
||||
|
||||
// Get matrix index
|
||||
const label index = tcI + 3;
|
||||
|
||||
// Insert contributions into the matrix
|
||||
forAll(lower, dirI)
|
||||
{
|
||||
M[dirI][index] = mc[dirI];
|
||||
M[index][dirI] = mc[dirI];
|
||||
}
|
||||
|
||||
// Insert source contribution (remainder of the constraint function)
|
||||
rhs[index] = curTc.sourceContribution();
|
||||
}
|
||||
|
||||
// Solve the matrix using LU decomposition. Note: solution is in the rhs and
|
||||
// it contains accelerations in the first three entries and corresponding
|
||||
// Lagrangian multipliers in other entries.
|
||||
scalarSquareMatrix::LUsolve(M, rhs);
|
||||
|
||||
return
|
||||
dimensionedVector
|
||||
(
|
||||
"A",
|
||||
force().dimensions()/mass().dimensions(),
|
||||
vector(rhs.x(), rhs.y(), rhs.z())
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -96,19 +143,62 @@ Foam::dimensionedVector Foam::geometricSixDOF::OmegaDot
|
|||
const dimensionedVector& omega
|
||||
) const
|
||||
{
|
||||
// External moment (torque) in local coordinate system
|
||||
dimensionedVector mRel =
|
||||
// External moment
|
||||
(dimensionedTensor("R", dimless, R) & moment());
|
||||
// Create a scalar square matrix representing Euler equations with
|
||||
// constraints and the corresponding source (right hand side vector).
|
||||
// Note: size of the matrix is 3 + number of constraints
|
||||
scalarField rhs(rotationalConstraints_.size() + 3, 0.0);
|
||||
scalarSquareMatrix J(rhs.size(), 0.0);
|
||||
|
||||
// Note: constraints not implemented at the moment. They shall be
|
||||
// implemented in terms of Lagrange multipliers.
|
||||
// Insert moment of inertia and explicit forcing into the system
|
||||
const dimensionedVector explicitForcing
|
||||
(
|
||||
E(omega) // Euler part
|
||||
+ (dimensionedTensor("R", dimless, R) & moment()) // External torque
|
||||
);
|
||||
const vector& efVal = explicitForcing.value();
|
||||
const diagTensor& I = momentOfInertia().value();
|
||||
|
||||
forAll(efVal, dirI)
|
||||
{
|
||||
J[dirI][dirI] = I[dirI];
|
||||
|
||||
rhs[dirI] = efVal[dirI];
|
||||
}
|
||||
|
||||
// Insert contributions from the constraints
|
||||
forAll(rotationalConstraints_, rcI)
|
||||
{
|
||||
// Get reference to current constraint
|
||||
const rotationalConstraint& curRc = rotationalConstraints_[rcI];
|
||||
|
||||
// Get matrix contribution from the constraint
|
||||
const vector mc = curRc.matrixContribution();
|
||||
|
||||
// Get matrix index
|
||||
const label index = rcI + 3;
|
||||
|
||||
// Insert contributions into the matrix
|
||||
forAll(upper, dirI)
|
||||
{
|
||||
J[dirI][index] = mc[dirI];
|
||||
J[index][dirI] = mc[dirI];
|
||||
}
|
||||
|
||||
// Insert source contribution (remainder of the constraint function)
|
||||
rhs[index] = curRc.sourceContribution();
|
||||
}
|
||||
|
||||
// Solve the matrix using LU decomposition. Note: solution is in the rhs and
|
||||
// it contains OmegaDot's in the first three entries and corresponding
|
||||
// Lagrangian multipliers in other entries.
|
||||
scalarSquareMatrix::LUsolve(J, rhs);
|
||||
|
||||
return
|
||||
inv(momentOfInertia())
|
||||
& (
|
||||
E(omega)
|
||||
+ mRel
|
||||
dimensionedVector
|
||||
(
|
||||
"OmegaDot",
|
||||
moment().dimensions()/momentOfInertia().dimensions(),
|
||||
vector(rhs.x(), rhs.y(), rhs.z())
|
||||
);
|
||||
}
|
||||
|
||||
|
|
@ -122,46 +212,6 @@ Foam::dimensionedVector Foam::geometricSixDOF::E
|
|||
}
|
||||
|
||||
|
||||
void Foam::geometricSixDOF::constrainTranslation(vector& vec) const
|
||||
{
|
||||
// Constrain the vector with respect to referent or global coordinate system
|
||||
if (referentMotionConstraints_)
|
||||
{
|
||||
vector consVec(referentRotation_.R() & vec);
|
||||
|
||||
if (fixedSurge_)
|
||||
{
|
||||
consVec.x() = 0;
|
||||
}
|
||||
if (fixedSway_)
|
||||
{
|
||||
consVec.y() = 0;
|
||||
}
|
||||
if (fixedHeave_)
|
||||
{
|
||||
consVec.z() = 0;
|
||||
}
|
||||
|
||||
vec = referentRotation_.invR() & consVec;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (fixedSurge_)
|
||||
{
|
||||
vec.x() = 0;
|
||||
}
|
||||
if (fixedSway_)
|
||||
{
|
||||
vec.y() = 0;
|
||||
}
|
||||
if (fixedHeave_)
|
||||
{
|
||||
vec.z() = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Foam::tensor Foam::geometricSixDOF::expMap(const vector& rotInc) const
|
||||
{
|
||||
tensor R;
|
||||
|
|
@ -257,14 +307,8 @@ void Foam::geometricSixDOF::setState(const sixDOFODE& sd)
|
|||
// HJ, 23/Mar/2015
|
||||
coeffs_ = gsd.coeffs_;
|
||||
|
||||
fixedSurge_ = gsd.fixedSurge_;
|
||||
fixedSway_ = gsd.fixedSway_;
|
||||
fixedHeave_ = gsd.fixedHeave_;
|
||||
fixedRoll_ = gsd.fixedRoll_;
|
||||
fixedPitch_ = gsd.fixedPitch_;
|
||||
fixedYaw_ = gsd.fixedYaw_;
|
||||
referentMotionConstraints_ = gsd.referentMotionConstraints_;
|
||||
referentRotation_ = gsd.referentRotation_;
|
||||
translationalConstraints = gsd.translationalConstraints_;
|
||||
rotationalConstraints = gsd.rotationalConstraints_;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -285,33 +329,11 @@ Foam::geometricSixDOF::geometricSixDOF(const IOobject& io)
|
|||
omega_(dict().lookup("omega")),
|
||||
omegaAverage_("omegaAverage", omega_),
|
||||
|
||||
nEqns_(),
|
||||
coeffs_(),
|
||||
coeffs_(12, 0.0),
|
||||
|
||||
fixedSurge_(dict().lookup("fixedSurge")),
|
||||
fixedSway_(dict().lookup("fixedSway")),
|
||||
fixedHeave_(dict().lookup("fixedHeave")),
|
||||
fixedRoll_(dict().lookup("fixedRoll")),
|
||||
fixedPitch_(dict().lookup("fixedPitch")),
|
||||
fixedYaw_(dict().lookup("fixedYaw")),
|
||||
referentMotionConstraints_
|
||||
(
|
||||
dict().lookupOrDefault<Switch>
|
||||
(
|
||||
"referentMotionConstraints",
|
||||
false
|
||||
)
|
||||
),
|
||||
referentRotation_(vector(1, 0, 0), 0)
|
||||
translationalConstraints_(),
|
||||
rotationalConstraints_()
|
||||
{
|
||||
// Missing constraints. Count how many rotational constraints we have in
|
||||
// order to count the number of equations.
|
||||
|
||||
nEqns_ = 12;
|
||||
|
||||
// Set size for ODE coefficients depending on number of equations
|
||||
coeffs_.setSize(nEqns_);
|
||||
|
||||
// Set ODE coefficients from position and rotation
|
||||
|
||||
// Linear displacement relative to spring equilibrium
|
||||
|
|
@ -336,6 +358,31 @@ Foam::geometricSixDOF::geometricSixDOF(const IOobject& io)
|
|||
coeffs_[9] = 0;
|
||||
coeffs_[10] = 0;
|
||||
coeffs_[11] = 0;
|
||||
|
||||
|
||||
// Read and construct constraints
|
||||
|
||||
// Read translation constraints if they are present
|
||||
if (dict().found("translationalConstraints"))
|
||||
{
|
||||
PtrList<translationalConstraints> tcList
|
||||
(
|
||||
dict().lookup("translationalConstraints"),
|
||||
translationalConstraints::iNew(*this)
|
||||
);
|
||||
translationalConstraints_.transfer(tcList);
|
||||
}
|
||||
|
||||
// Read rotation constraints if they are present
|
||||
if (dict().found("rotationalConstraints"))
|
||||
{
|
||||
PtrList<rotationalConstraints> tcList
|
||||
(
|
||||
dict().lookup("rotationalConstraints"),
|
||||
rotationalConstraints::iNew(*this)
|
||||
);
|
||||
rotationalConstraints_.transfer(tcList);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -354,17 +401,10 @@ Foam::geometricSixDOF::geometricSixDOF
|
|||
omega_(gsd.omega_.name(), gsd.omega_),
|
||||
omegaAverage_(gsd.omegaAverage_.name(), gsd.omegaAverage_),
|
||||
|
||||
nEqns_(gsd.nEqns_),
|
||||
coeffs_(gsd.coeffs_),
|
||||
|
||||
fixedSurge_(gsd.fixedSurge_),
|
||||
fixedSway_(gsd.fixedSway_),
|
||||
fixedHeave_(gsd.fixedHeave_),
|
||||
fixedRoll_(gsd.fixedRoll_),
|
||||
fixedPitch_(gsd.fixedPitch_),
|
||||
fixedYaw_(gsd.fixedYaw_),
|
||||
referentMotionConstraints_(gsd.referentMotionConstraints_),
|
||||
referentRotation_(gsd.referentRotation_)
|
||||
translationalConstraints_(gsd.translationalConstraints_),
|
||||
rotationalConstraints_(gsd.rotationalConstraints_),
|
||||
{}
|
||||
|
||||
|
||||
|
|
@ -581,18 +621,10 @@ bool Foam::geometricSixDOF::writeData(Ostream& os) const
|
|||
os.writeKeyword("omega") << tab << omega_
|
||||
<< token::END_STATEMENT << nl << nl;
|
||||
|
||||
os.writeKeyword("fixedSurge") << tab << fixedSurge_ <<
|
||||
token::END_STATEMENT << nl;
|
||||
os.writeKeyword("fixedSway") << tab << fixedSway_ <<
|
||||
token::END_STATEMENT << nl;
|
||||
os.writeKeyword("fixedHeave") << tab << fixedHeave_ <<
|
||||
token::END_STATEMENT << nl;
|
||||
os.writeKeyword("fixedRoll") << tab << fixedRoll_ <<
|
||||
token::END_STATEMENT << nl;
|
||||
os.writeKeyword("fixedPitch") << tab << fixedPitch_ <<
|
||||
token::END_STATEMENT << nl;
|
||||
os.writeKeyword("fixedYaw") << tab << fixedYaw_ <<
|
||||
token::END_STATEMENT << nl << endl;
|
||||
os.writeKeyword("translationalConstraints") << tab
|
||||
<< translationalConstraints_ << token::END_STATEMENT << nl;
|
||||
os.writeKeyword("rotationalConstraints") << tab
|
||||
<< rotationalConstraints_ << token::END_STATEMENT << nl << endl;
|
||||
|
||||
return os.good();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,6 +27,9 @@ Class
|
|||
Description
|
||||
6-DOF solver using a geometric method for integration of rotations.
|
||||
|
||||
Run-time selectable constraints are handled via Lagrangian multipliers using
|
||||
the interface from sixDOFConstraint class.
|
||||
|
||||
Reference (bibtex):
|
||||
|
||||
@article {mullerTerze2016,
|
||||
|
|
@ -58,6 +61,8 @@ SourceFiles
|
|||
#include "sixDOFODE.H"
|
||||
#include "finiteRotation.H"
|
||||
#include "tolerancesSwitch.H"
|
||||
#include "translationalConstraint.H"
|
||||
#include "rotationalConstraint.H"
|
||||
|
||||
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
|
||||
|
||||
|
|
@ -101,40 +106,17 @@ class geometricSixDOF
|
|||
|
||||
// ODE controls
|
||||
|
||||
//- Number of equations (depending on rotational constraints)
|
||||
scalar nEqns_;
|
||||
|
||||
//- ODE coefficients
|
||||
scalarField coeffs_;
|
||||
|
||||
|
||||
// Motion constraints (given as fixed motion components)
|
||||
// Motion constraints
|
||||
|
||||
//- Fixed surge (x-translation)
|
||||
Switch fixedSurge_;
|
||||
//- List of translational constraints
|
||||
PtrList<translationalConstraint> translationalConstraints_;
|
||||
|
||||
//- Fixed sway (y-translation)
|
||||
Switch fixedSway_;
|
||||
|
||||
//- Fixed heave (z-translation)
|
||||
Switch fixedHeave_;
|
||||
|
||||
//- Fixed roll (rotation around x)
|
||||
Switch fixedRoll_;
|
||||
|
||||
//- Fixed pitch (rotation around y)
|
||||
Switch fixedPitch_;
|
||||
|
||||
//- Fixed yaw (rotation around z)
|
||||
Switch fixedYaw_;
|
||||
|
||||
//- Constraints in referent coordinate system
|
||||
Switch referentMotionConstraints_;
|
||||
|
||||
//- Rotation of referent coordinate system. Currently defined using
|
||||
// quaternions for comatibility. Need to reformulate.
|
||||
// VV, 28/Feb/2017.
|
||||
HamiltonRodriguezRot referentRotation_;
|
||||
//- List of rotational constraints
|
||||
Ptrlist<rotationalConstraint> rotationalConstraints_;
|
||||
|
||||
|
||||
// Private Member Functions
|
||||
|
|
@ -172,10 +154,6 @@ class geometricSixDOF
|
|||
const dimensionedVector& omega
|
||||
) const;
|
||||
|
||||
//- Constrain translation vector in referent or global coordinate
|
||||
// system
|
||||
void constrainTranslation(vector& vec) const;
|
||||
|
||||
//- Exponential map used to calculate increment of the rotation
|
||||
// tensor
|
||||
tensor expMap(const vector& rotInc) const;
|
||||
|
|
@ -235,6 +213,23 @@ public:
|
|||
|
||||
// Member Functions
|
||||
|
||||
// Access member functions
|
||||
|
||||
//- Return const reference to translation constraints
|
||||
const PtrList<translationalConstraint>&
|
||||
translationalConstraints() const
|
||||
{
|
||||
return translationalConstraints_;
|
||||
}
|
||||
|
||||
//- Return const reference to translation constraints
|
||||
const PtrList<rotationalConstraint>&
|
||||
rotationalConstraints() const
|
||||
{
|
||||
return rotationalConstraints_;
|
||||
}
|
||||
|
||||
|
||||
// Virtual interface for 6DOF motion state
|
||||
|
||||
// Variables in relative coordinate system
|
||||
|
|
@ -284,7 +279,7 @@ public:
|
|||
//- Return number of equations
|
||||
virtual label nEqns() const
|
||||
{
|
||||
return nEqns_;
|
||||
return 12;
|
||||
}
|
||||
|
||||
//- Return access to coefficients
|
||||
|
|
|
|||
Reference in a new issue