Class to define a body as a frame with mass and inertia. More...

#include <Body.h>

Inheritance diagram for warptwin::Body:

[legend]

Public Member Functions
	Body (const std::string &name, Frame *par=nullptr)
	Parent constructor for the body object.
int	calcFrameTreeExtForcesMoments ()
	Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.
int	calcFrameTreeExtAcceleration ()
	Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.
void	getFMPairAtParentOrigin (clockwerk::CartesianVector< 3 > &force_parentcg__p, clockwerk::CartesianVector< 3 > &moment_parentcg__p)
	Function to resolve passthrough forces/moments into a force/moment pair in parent body frame origin.
clockwerk::CartesianVector< 3 >	externalForce ()
	Getters for force and moment stuff.
clockwerk::CartesianVector< 3 >	externalMoment ()
clockwerk::CartesianVector< 3 >	passthroughForce ()
clockwerk::CartesianVector< 3 >	passthroughMoment ()
void	dump ()
	Dump all information associated with the frame.
Public Member Functions inherited from warptwin::Frame
	Frame (const std::string &name, Frame *par=nullptr, bool free=false)
	Constructor for the frame object.
virtual	~Frame ()
std::vector< Frame * >	frameChildren ()
	Return all children of the frame as a vector of frames.
Frame *	getFrameByAddress (const std::string &address)
	Function to get an object from the graph tree by string address.
Joint &	tJoint ()
	Function to get reference to the frame's translational joint.
Joint &	rJoint ()
	Function to get reference to the frame's rotational joint.
int	parent (Frame *new_parent)
	Function to assign the frame's parent via pointer.
int	parent (Frame &new_parent)
Frame *	parent ()
void	setParentRelAcceleration (clockwerk::CartesianVector< 3 > accel)
	Function to set parent relative acceleration of frame.
void	setParentRelAngularAcceleration (clockwerk::CartesianVector< 3 > alpha)
	Function to set parent relative angular acceleration.
clockwerk::CartesianVector< 3 >	parentRelAcceleration ()
	Function to get the acceleration of the frame relative to parent expressed in parent coords.
clockwerk::CartesianVector< 3 >	parentRelAngularAcceleration ()
	Function to get angular acceleration relative to parent in frame coords.
void	rootRelPosition (clockwerk::CartesianVector< 3 > &pos_o_root__root) const
	Returns the position of the frame origin wrt the root origin, in root coordinates.
clockwerk::CartesianVector< 3 >	rootRelPosition () const
void	rootRelVelocity (clockwerk::CartesianVector< 3 > &vel_o_root__root) const
	Returns the velocity of the frame origin wrt the root origin, in root coordinates.
clockwerk::CartesianVector< 3 >	rootRelVelocity () const
void	rootRelAcceleration (clockwerk::CartesianVector< 3 > &acc_o_root__root) const
	Returns the acceleration of the frame origin wrt the root origin, in root coordinates.
clockwerk::CartesianVector< 3 >	rootRelAcceleration () const
void	rootRelQuaternion (clockwerk::Quaternion &quat_f_root) const
	Returns the quaternion representing the frame origin wrt the root frame.
clockwerk::Quaternion	rootRelQuaternion () const
void	rootRelDCM (clockwerk::DCM &dcm_f_root) const
	Returns the clockwerk::DCM of the frame origin wrt the root frame.
clockwerk::DCM	rootRelDCM () const
void	rootRelAngularVelocity (clockwerk::CartesianVector< 3 > &w_f_root__f) const
	Returns the angular velocity of the frame origin wrt the root, expressed in this frame's coordinates.
clockwerk::CartesianVector< 3 >	rootRelAngularVelocity () const
void	rootRelAngularAcceleration (clockwerk::CartesianVector< 3 > &alpha_f_root__f) const
	Returns the angular acceleration of the frame origin wrt the root, expressed in this frame's coordinates.
clockwerk::CartesianVector< 3 >	rootRelAngularAcceleration () const
int	calcFrameTreeExtForcesMoments ()
	Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.
int	calcFrameTreeExtAcceleration ()
	Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.
void	integrator (void *integ_ptr)
	Getter and setter for integrator pointer.
void *	integrator ()
void	setStateFromStateVector (const std::array< floating_point, 13 > &state_f_p__f)
	Function to set frame state based on NUM_INTEGRATED_STATES-element state vector.
void	getStateAsStateVector (std::array< floating_point, 13 > &state_f_p__f)
	Function to return frame state as a NUM_INTEGRATED_STATES-element state vector.
void	getStateVectorDot (std::array< floating_point, 13 > &state_dot)
	Function to get the rate of change in the frame state vector.
int	setRootRelPosition (const clockwerk::CartesianVector< 3 > &pos_f_root__root)
	Function to set the frame's position relative to root.
int	setRootRelVelocity (const clockwerk::CartesianVector< 3 > &vel_f_root__root)
	Function to set the frame's velocity relative to root.
int	setRootRelAttitude (const clockwerk::Quaternion &quat_f_root)
	Function to set the frame's attitude relative to root.
int	setRootRelAngularVelocity (const clockwerk::CartesianVector< 3 > &w_f_root__f)
	Function to set the frame's position relative to root.
Frame *	getFrameRootPointer ()
	Function to get a pointer to this frame's root frame.
void	dump ()
	Dump all information associated with the frame.
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Public Attributes
clockwerk::DataIO< floating_point >	mass = clockwerk::DataIO<floating_point>(nullptr, "mass", 1.0)
	Signal/parameter for the body's mass.
clockwerk::DataIO< clockwerk::Matrix< 3, 3 > >	inertia
	Signal/parameter for the body's inertia.
clockwerk::DataIO< floating_point >	composite_mass = clockwerk::DataIO<floating_point>(nullptr, "composite_mass", 1.0)
	Signal/parameter for the body's composite mass.
clockwerk::DataIO< clockwerk::Matrix< 3, 3 > >	composite_inertia
	Signal/parameter for the body's composite inertia.
clockwerk::DataIO< Body * >	self_id = clockwerk::DataIO<Body*>(nullptr, "self_id", this)
Public Attributes inherited from warptwin::Frame
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	pos_f_p__p
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	vel_f_p__p
clockwerk::DataIO< clockwerk::Quaternion >	quat_f_p
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	ang_vel_f_p__f
clockwerk::DataIO< Frame * >	self_id = clockwerk::DataIO<Frame*>(nullptr, "self_id", this)

Protected Member Functions
void	_calcCompositeMassInertiaCM ()
	Function to recurse through children and calculate body composite inertia.
void	_calcAppliedForceMoment (const clockwerk::CartesianVector< 3 > &force, const clockwerk::CartesianVector< 3 > &moment)
	Function to resolve forces and moments to body frame as applied and passed through.
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
clockwerk::CartesianVector< 3 >	_ext_force__b
	Applied external force and moment on the body.
clockwerk::CartesianVector< 3 >	_ext_moment__b
clockwerk::CartesianVector< 3 >	_passthrough_force__b
	Passthrough force on the body – force not applied here but passed on to parent body.
clockwerk::CartesianVector< 3 >	_passthrough_moment__b
Protected Attributes inherited from warptwin::Frame
clockwerk::CartesianVector< 3 >	_acc_f_p__p
clockwerk::CartesianVector< 3 >	_alpha_f_p__f
Joint	_t_joint
Joint	_r_joint
	Translational.
void *	_integrator_ptr = nullptr
	Rotational.
Frame *	_parent
	Variable to hold our parent.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Detailed Description

Class to define a body as a frame with mass and inertia.

This file defines the base body class which forms the basis for 6-DOF dynaics. Bodies are special invocations of the Frame object with mass and inertia, which allows them to interact with frames freely.

For the individual body, inertia is assumed to be about the frame center.

TODO For now, the body class enforces the following constraints in order to make things simpler and verify dynamics.

Bodies may only be children of frames
Nodes may only be children of bodies
Joints are restricted to fully free or fully locked

Unless otherwise noted units should be assumed metric

Constructor & Destructor Documentation

◆ Body()

warptwin::Body::Body	(	const std::string &	name,
		Frame *	par = nullptr )

Parent constructor for the body object.

Parameters

name	The name of the body
par	The frame parent. Default is nullptr

Member Function Documentation

◆ _calcAppliedForceMoment()

void warptwin::Body::_calcAppliedForceMoment	(	const clockwerk::CartesianVector< 3 > &	force,
		const clockwerk::CartesianVector< 3 > &	moment )

protected

Function to resolve forces and moments to body frame as applied and passed through.

◆ _calcCompositeMassInertiaCM()

void warptwin::Body::_calcCompositeMassInertiaCM ( )

protected

Function to recurse through children and calculate body composite inertia.

◆ calcFrameTreeExtAcceleration()

int warptwin::Body::calcFrameTreeExtAcceleration ( )

Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.

Note: Implicitly applies acceleration/ang accel to the body frame; Assumes calcBodyTreeForcesMoments has been called to calculate forces/moments; Specific implementation of this function for body class. Overwrites frame class implementation

◆ calcFrameTreeExtForcesMoments()

int warptwin::Body::calcFrameTreeExtForcesMoments ( )

Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.

Note: Specific implementation of this function for body class. Overwrites frame class implementation

◆ dump()

void warptwin::Body::dump ( )

Dump all information associated with the frame.

◆ externalForce()

clockwerk::CartesianVector< 3 > warptwin::Body::externalForce ( )

inline

Getters for force and moment stuff.

◆ externalMoment()

clockwerk::CartesianVector< 3 > warptwin::Body::externalMoment ( )

inline

◆ getFMPairAtParentOrigin()

void warptwin::Body::getFMPairAtParentOrigin	(	clockwerk::CartesianVector< 3 > &	force_parentcg__p,
		clockwerk::CartesianVector< 3 > &	moment_parentcg__p )

Function to resolve passthrough forces/moments into a force/moment pair in parent body frame origin.

Parameters

force_parentcg__p	Implicit return of passthrough force applied to this body in the parent body frame
moment_parentcg__p	Implicit return of passthrough moment applied to this body in the parent body frame, RESOLVED TO A FORCE/MOMENT COUPLE AT THE PARENT FRAME LOCATION

◆ passthroughForce()

clockwerk::CartesianVector< 3 > warptwin::Body::passthroughForce ( )

inline

◆ passthroughMoment()

clockwerk::CartesianVector< 3 > warptwin::Body::passthroughMoment ( )

inline

Member Data Documentation

◆ _ext_force__b

clockwerk::CartesianVector<3> warptwin::Body::_ext_force__b

protected

Applied external force and moment on the body.

◆ _ext_moment__b

clockwerk::CartesianVector<3> warptwin::Body::_ext_moment__b

protected

◆ _passthrough_force__b

clockwerk::CartesianVector<3> warptwin::Body::_passthrough_force__b

protected

Passthrough force on the body – force not applied here but passed on to parent body.

◆ _passthrough_moment__b

clockwerk::CartesianVector<3> warptwin::Body::_passthrough_moment__b

protected

◆ composite_inertia

clockwerk::DataIO<clockwerk::Matrix<3, 3> > warptwin::Body::composite_inertia

Initial value:

= clockwerk::DataIO<clockwerk::Matrix<3, 3>>(nullptr, "composite_inertia",

clockwerk::Matrix<3, 3>({{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}}))

clockwerk::DataIO

Class for inter-object communication.

Definition DataIO.hpp:60

clockwerk::Matrix

Matrix math implementation.

Definition Matrix.hpp:55

Signal/parameter for the body's composite inertia.

Note: Is calculated – should not be modified

◆ composite_mass

clockwerk::DataIO<floating_point> warptwin::Body::composite_mass = clockwerk::DataIO<floating_point>(nullptr, "composite_mass", 1.0)

Signal/parameter for the body's composite mass.

Note: Is calculated – should not be modified

◆ inertia

clockwerk::DataIO<clockwerk::Matrix<3, 3> > warptwin::Body::inertia

Initial value:

= clockwerk::DataIO<clockwerk::Matrix<3, 3>>(nullptr, "inertia",

clockwerk::Matrix<3, 3>({{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}}))

Signal/parameter for the body's inertia.

◆ mass

clockwerk::DataIO<floating_point> warptwin::Body::mass = clockwerk::DataIO<floating_point>(nullptr, "mass", 1.0)

Signal/parameter for the body's mass.

◆ self_id

clockwerk::DataIO<Body*> warptwin::Body::self_id = clockwerk::DataIO<Body*>(nullptr, "self_id", this)

The documentation for this class was generated from the following files:

/Users/mickey/Documents/Projects/warptwin/cpp/src/frames/Body.h
/Users/mickey/Documents/Projects/warptwin/cpp/src/frames/Body.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ _calcAppliedForceMoment()

◆ _calcCompositeMassInertiaCM()

◆ calcFrameTreeExtAcceleration()

◆ calcFrameTreeExtForcesMoments()

◆ dump()

◆ externalForce()

◆ externalMoment()

◆ getFMPairAtParentOrigin()

◆ passthroughForce()

◆ passthroughMoment()

Member Data Documentation

◆ _ext_force__b

◆ _ext_moment__b

◆ _passthrough_force__b

◆ _passthrough_moment__b

◆ composite_inertia

◆ composite_mass

◆ inertia

◆ mass

◆ self_id