A rigid body. More...

#include <Body.hpp>

Inheritance diagram for moordyn::Body:

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Collaboration diagram for moordyn::Body:

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Public Types
enum	types { COUPLED = -1 , FREE = 0 , FIXED = 1 , CPLDPIN = 2 , VESSEL = COUPLED , ANCHOR = FIXED }
	Types of bodies. More...

Public Member Functions
	Body (moordyn::Log *log, size_t id)
	Costructor. More...

	~Body ()
	Destructor.

void	setup (int number, types type, vec6 r6, vec rCG, real M, real V, vec I, vec6 CdA, vec6 Ca, EnvCondRef env_in, shared_ptr< ofstream > outfile)
	Setup/initialize a rigid body. Called after instantiating a new Body in MoorDyn2.cpp. More...

void	addPoint (moordyn::Point *point, vec coords)
	Attach a point to the body. More...

void	addRod (Rod *rod, vec6 coords)
	Attach a rod to the body. More...

void	initializeUnfreeBody (vec6 r=vec6::Zero(), vec6 rd=vec6::Zero(), vec6 rdd=vec6::Zero())
	Initialize the body that aren't free i.e. don't have states. More...

vec6	getUnfreeVel () const
	Get the last setted velocity for an unfree body. More...

void	initializeBody (XYZQuat r=XYZQuat::Zero(), vec6 rd=vec6::Zero())
	Initialize the free body. More...

void	setWaves (moordyn::WavesRef waves_in)
	Set the environmental data. More...

void	setDependentStates ()
	set the states (positions and velocities) to all the attached entities More...

void	getState (XYZQuat &pos, vec6 &vel) const
	Get the body kinematics. More...

std::pair< XYZQuat, vec6 >	getState () const
	Get the body kinematics. More...

const vec	getPosition () const
	Get the body position. More...

const vec	getAngles () const
	Get the body Euler XYZ angles. More...

const vec	getVelocity () const
	Get the body velocity. More...

const vec	getAngularVelocity () const
	Get the body angular velocity. More...

const vec6	getFnet () const
	Get the forces and moments exerted over the body. More...

const mat6 &	getM () const
	Get the mass and intertia matrix. More...

real	GetBodyOutput (OutChanProps outChan)
	Get body output. More...

void	scaleDrag (real scaler)
	Scale the drag coefficients. More...

void	initiateStep (vec6 r, vec6 rd, vec6 rdd)
	Called at the beginning of each coupling step to update the boundary conditions (body kinematics) for the proceeding time steps. More...

void	updateFairlead (real time)
	Sets the kinematics based on the position and velocity of the fairlead. More...


std::pair< XYZQuat, vec6 >	initialize ()
	Initialize a free instance. More...

void	initialize (InstanceStateVarView r)
	Initialize a free instance. More...

Public Member Functions inherited from moordyn::Instance
	Instance (moordyn::Log *log)
	Costructor. More...

virtual	~Instance ()=default
	Destructor.

const size_t	id () const
	Get the unique identifier of this instance. More...

Public Member Functions inherited from moordyn::io::IO
	IO (moordyn::Log *log)
	Costructor. More...

virtual	~IO ()=default
	Destructor.

void	Save (const std::string filepath)
	Save the entity into a file. More...

void	Load (const std::string filepath)
	Loads the entity from a file. More...

Public Member Functions inherited from moordyn::LogUser
	LogUser (Log *log=NULL)
	Constructor. More...

	~LogUser ()
	Destructor.

void	SetLogger (Log *log)
	Set the log handler. More...

Log *	GetLogger () const
	Get the log handler. More...

Static Public Member Functions
static string	TypeName (types t)
	Return a string with the name of a type. More...

Public Attributes
EnvCondRef	env
	Global struct that holds environmental settings.

WavesRef	waves
	global Waves object

std::vector< moordyn::Point * >	attachedP
	Points attached to this body.

std::vector< Rod * >	attachedR
	Rods attached to this body.

std::vector< vec >	rPointRel
	Attachment points of each point.

std::vector< vec6 >	r6RodRel
	Attachment points of each rod.

vec6	body_r6
	The reference point.

vec	body_rCG
	The center of gravity.

real	bodyM
	The mass.

real	bodyV
	The volume.

vec	bodyI
	The inertia diagonal components.

vec6	bodyCdA
	The product of the drag coefficient and the frontal area (m^2)

vec6	bodyCa
	The added mass coefficients.

XYZQuat	r7
	body 6dof position [x/y/z]

vec6	v6
	body 6dof velocity[x/y/z]

vec6	a6
	body 6dof acceleration[x/y/z]

vec6	r_ves
	fairlead position for coupled bodies [x/y/z]

vec6	rd_ves
	fairlead velocity for coupled bodies [x/y/z]

vec6	rdd_ves
	fairlead acceleration for coupled bodies [x/y/z]

vec6	F6net
	total force and moment vector on body

mat6	M
	total body mass + added mass matrix including all elements

mat6	M0

mat	OrMat

ofstream *	outfile
	Pointer to moordyn::MoorDyn::outfileMain.

size_t	bodyId
	Body ID.

int	number
	Body number.

types	type
	Type of body.

void	setState (const InstanceStateVarView r)
	Set the states to the body to the position r and velocity rd. More...

void	getStateDeriv (InstanceStateVarView drdt)
	calculate the forces and state derivatives of the body More...

void	doRHS ()
	calculates the forces on the body More...

void	Output (real time)

const size_t	stateN () const
	Get the number of state variables required by this instance. More...

const size_t	stateDims () const
	Get the dimension of the state variable. More...

std::vector< uint64_t >	Serialize (void)
	Produce the packed data to be saved. More...

uint64_t *	Deserialize (const uint64_t *data)
	Unpack the data to restore the Serialized information. More...

void	saveVTK (const char *filename)
	Save the body on a VTK (.vtp) file. More...

const leanvtk::VTPWriter *	getVTK () const
	Get the VTK writer. More...

Additional Inherited Members
Protected Member Functions inherited from moordyn::io::IO
ofstream	MakeFile (const std::string filepath) const
	Create an output file and write the MoorDyn magic header. More...

std::tuple< uint64_t, uint64_t * >	LoadFile (const std::string filepath) const
	Open an input file and load the data. More...

uint64_t	Serialize (const uint64_t &i)
	Pack an unsigned integer to make it writable. More...

uint64_t	Serialize (const int64_t &i)
	Pack an integer to make it writable. More...

uint64_t	Serialize (const real &f)
	Pack a float to make it writable. More...

std::vector< uint64_t >	Serialize (const vec &m)
	Pack a 3D vector to make it writable. More...

std::vector< uint64_t >	Serialize (const vec6 &m)
	Pack a 6D vector to make it writable. More...

std::vector< uint64_t >	Serialize (const mat &m)
	Pack a 3x3 matrix to make it writable. More...

std::vector< uint64_t >	Serialize (const mat6 &m)
	Pack a 6x6 matrix to make it writable. More...

std::vector< uint64_t >	Serialize (const quaternion &m)
	Pack a quaternion to make it writable. More...

std::vector< uint64_t >	Serialize (const XYZQuat &m)
	Pack an XYZQuat to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< real > &l)
	Pack a list of floating point numbers to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< vec > &l)
	Pack a list of 3D vectors to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< vec6 > &l)
	Pack a list of 6D vectors to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< mat > &l)
	Pack a list of 3x3 matrices to make it writable. More...

std::vector< uint64_t >	Serialize (const std::vector< mat6 > &l)
	Pack a list of 6x6 matrices to make it writable. More...

std::vector< uint64_t >	Serialize (const Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > &l)
	Pack an arbitrarily large matrix. More...

template<typename T >
std::vector< uint64_t >	Serialize (const std::vector< std::vector< T >> &l)
	Pack a list of lists to make it writable This function might act recursively. More...

uint64_t *	Deserialize (const uint64_t *in, uint64_t &out)
	Unpack a loaded unsigned integer. More...

uint64_t *	Deserialize (const uint64_t *in, int64_t &out)
	Unpack a loaded integer. More...

uint64_t *	Deserialize (const uint64_t *in, real &out)
	Unpack a loaded floating point number. More...

uint64_t *	Deserialize (const uint64_t *in, vec &out)
	Unpack a loaded 3D vector. More...

uint64_t *	Deserialize (const uint64_t *in, vec6 &out)
	Unpack a loaded 6D vector. More...

uint64_t *	Deserialize (const uint64_t *in, mat &out)
	Unpack a loaded 3x3 matrix. More...

uint64_t *	Deserialize (const uint64_t *in, mat6 &out)
	Unpack a loaded 6x6 matrix. More...

uint64_t *	Deserialize (const uint64_t *in, quaternion &out)
	Unpack a loaded quaternion. More...

uint64_t *	Deserialize (const uint64_t *in, XYZQuat &out)
	Unpack a loaded XYZQuat. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< real > &out)
	Unpack a loaded list of floating point numbers. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< vec > &out)
	Unpack a loaded list of 3D vectors. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< vec6 > &out)
	Unpack a loaded list of 6D vectors. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< mat > &out)
	Unpack a loaded list of 3x3 matrices. More...

uint64_t *	Deserialize (const uint64_t *in, std::vector< mat6 > &out)
	Unpack a loaded list of 6x6 matrices. More...

uint64_t *	Deserialize (const uint64_t *in, Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > &out)
	Unpack an arbitrarily large matrix. More...

template<typename T >
uint64_t *	Deserialize (const uint64_t *in, std::vector< std::vector< T >> &out)
	Unpack a loaded list of lists. More...

Protected Attributes inherited from moordyn::LogUser
Log *	_log
	The log handler.

Detailed Description

A rigid body.

Some really basic dynamics are implemented for rigid bodies out of the box, which can be extended through the usage of coupled ones.

In the configuration file the options are:

Name/ID, X0, Y0, Z0, Xcg, Ycg, Zcg, M, V, IX, IY, IZ, CdA-x,y,z Ca-x,y,z

Member Enumeration Documentation

◆ types

enum moordyn::Body::types

Types of bodies.

Enumerator
COUPLED	Is coupled, i.e. is controlled by the user.
FREE	Is free to move, controlled by MoorDyn.
FIXED	Is fixed, either to a location or to another moving entity.
CPLDPIN	Is coupled pinned, i.e. translational dof are controlled by the user.

Constructor & Destructor Documentation

◆ Body()

moordyn::Body::Body	(	moordyn::Log *	log,
		size_t	id
	)

Costructor.

Parameters

log	Logging handler defining where/how results should be logged.
id	U nique identifier of this body

Member Function Documentation

◆ addPoint()

void moordyn::Body::addPoint	(	moordyn::Point *	point,
		vec	coords
	)

Attach a point to the body.

Parameters

point	The point
coords	The fixation point

Exceptions

moordyn::invalid_value_error If point is NULL

◆ addRod()

void moordyn::Body::addRod	(	Rod *	rod,
		vec6	coords
	)

Attach a rod to the body.

Parameters

rod	The rod
coords	vector indicating start (vals 0-2) and end (valse 3-5) of rod in the body reference frame

Exceptions

moordyn::invalid_value_error If rod is NULL

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◆ Deserialize()

uint64_t * moordyn::Body::Deserialize ( const uint64_t * data )

virtual

Unpack the data to restore the Serialized information.

This is the inverse of Serialize(void)

Parameters

data	The packed data

Returns: A pointer to the end of the file, for debugging purposes

Implements moordyn::io::IO.

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◆ doRHS()

void moordyn::Body::doRHS ( )

calculates the forces on the body

Exceptions

moordyn::invalid_value_error If the body is of type moordyn::Body::FREE

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◆ getAngles()

const vec moordyn::Body::getAngles ( ) const

inline

Get the body Euler XYZ angles.

Returns: The body Euler XYZ angles

◆ getAngularVelocity()

const vec moordyn::Body::getAngularVelocity ( ) const

inline

Get the body angular velocity.

Returns: The body angular velocity

◆ GetBodyOutput()

real moordyn::Body::GetBodyOutput ( OutChanProps outChan )

Get body output.

This funtion is useful when output options are set in the system

Parameters

outChan The output channel/field

Returns: The output value, 0.0 if a non-valid field is set

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◆ getFnet()

const vec6 moordyn::Body::getFnet ( ) const

Get the forces and moments exerted over the body.

Returns: The net force

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◆ getM()

const mat6& moordyn::Body::getM ( ) const

inline

Get the mass and intertia matrix.

Returns: The mass and inertia matrix

◆ getPosition()

const vec moordyn::Body::getPosition ( ) const

inline

Get the body position.

Returns: The body position

◆ getState() [1/2]

std::pair<XYZQuat, vec6> moordyn::Body::getState ( ) const

inline

Get the body kinematics.

Returns: Position and velocity

◆ getState() [2/2]

void moordyn::Body::getState	(	XYZQuat &	pos,
		vec6 &	vel
	)		const

inline

Get the body kinematics.

Parameters

pos	The output position
vel	The output velocity

◆ getStateDeriv()

void moordyn::Body::getStateDeriv ( InstanceStateVarView drdt )

virtual

calculate the forces and state derivatives of the body

This function is only meant for free bodies

Parameters

drdt	The states derivatives, i.e. the velocity and the acceleration

Exceptions

moordyn::invalid_value_error If the body is of type moordyn::Body::FREE

Implements moordyn::Instance.

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◆ getUnfreeVel()

vec6 moordyn::Body::getUnfreeVel ( ) const

inline

Get the last setted velocity for an unfree body.

For free bodies the behaviour is undetermined

Returns: The velocity (6 dof)

◆ getVelocity()

const vec moordyn::Body::getVelocity ( ) const

inline

Get the body velocity.

Returns: The body velocity

◆ getVTK()

const leanvtk::VTPWriter* moordyn::Body::getVTK ( ) const

inline

Get the VTK writer.

This function is useful for writing multiblock .vtm files

Returns: The VTK .vtu writer

◆ initialize() [1/2]

std::pair< XYZQuat, vec6 > moordyn::Body::initialize ( )

Initialize a free instance.

Parameters

r	The output state variable

Returns: The 6-dof position (first) and the 6-dof velocity (second)

Exceptions

moordyn::invalid_value_error	If the instance does not have free states. e.g. a coupled body controlled from outside
moordyn::output_file_error	If an outfile has been provided, but it cannot be written

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◆ initialize() [2/2]

void moordyn::Body::initialize ( InstanceStateVarView r )

inlinevirtual

Initialize a free instance.

Parameters

r	The output state variable

Exceptions

moordyn::invalid_value_error If the instance does not have free states. e.g. a coupled body controlled from outside

Implements moordyn::Instance.

◆ initializeBody()

void moordyn::Body::initializeBody	(	XYZQuat	r = `XYZQuat::Zero()`,
		vec6	rd = `vec6::Zero()`
	)

Initialize the free body.

Those are the bodies with type moordyn::Body::FREE

Parameters

r	The position (6 dof)
rd	The velocity (6 dof)

Exceptions

moordyn::invalid_value_error	If the body is not of type moordyn::Body::FREE
moordyn::output_file_error	If an outfile has been provided, but it cannot be written

◆ initializeUnfreeBody()

void moordyn::Body::initializeUnfreeBody	(	vec6	r = `vec6::Zero()`,
		vec6	rd = `vec6::Zero()`,
		vec6	rdd = `vec6::Zero()`
	)

Initialize the body that aren't free i.e. don't have states.

Those are the bodies with types moordyn::Body::COUPLED and moordyn::Body::FIXED

Parameters

r	The position (6 dof)
rd	The velocity (6 dof)
rdd	The acceleration (6 dof)

Exceptions

moordyn::invalid_value_error If the body is of type moordyn::Body::FREE

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◆ initiateStep()

void moordyn::Body::initiateStep	(	vec6	r,
		vec6	rd,
		vec6	rdd
	)

Called at the beginning of each coupling step to update the boundary conditions (body kinematics) for the proceeding time steps.

Parameters

r	The input position
rd	The input velocity
rdd	The input acceleration

Exceptions

moordyn::invalid_value_error If the body is not of type moordyn::Body::COUPLED or moordyn::Body::FIXED

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◆ saveVTK()

void moordyn::Body::saveVTK ( const char * filename )

Save the body on a VTK (.vtp) file.

Parameters

filename The output file name

Exceptions

output_file_error If the file cannot be saved

◆ scaleDrag()

void moordyn::Body::scaleDrag ( real scaler )

inline

Scale the drag coefficients.

Parameters

scaler The drag coefficients scale factor

◆ Serialize()

std::vector< uint64_t > moordyn::Body::Serialize ( void )

virtual

Produce the packed data to be saved.

The produced data can be used afterwards to restore the saved information afterwards calling Deserialize(void).

Thus, this function is not processing the information that is extracted from the definition file

Returns: The packed data

Implements moordyn::io::IO.

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◆ setDependentStates()

void moordyn::Body::setDependentStates ( )

set the states (positions and velocities) to all the attached entities

Exceptions

moordyn::invalid_value_error If a non FIXED point is tried to be edited

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◆ setState()

void moordyn::Body::setState ( const InstanceStateVarView r )

virtual

Set the states to the body to the position r and velocity rd.

Parameters

r	The body state

Implements moordyn::Instance.

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◆ setup()

void moordyn::Body::setup	(	int	number,
		types	type,
		vec6	r6,
		vec	rCG,
		real	M,
		real	V,
		vec	I,
		vec6	CdA,
		vec6	Ca,
		EnvCondRef	env_in,
		shared_ptr< ofstream >	outfile
	)

Setup/initialize a rigid body. Called after instantiating a new Body in MoorDyn2.cpp.

Parameters

number	Body number
type	Body type
r6	6dof position
rCG	Center of gravity position
M	Mass
V	Volume
I	Inertia (diagonal matrix components)
CdA	Drag coefficient
Ca	Added mass coefficient
env_in	Global struct that holds environmental settings
outfile	The outfile where information shall be witten

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◆ setWaves()

void moordyn::Body::setWaves ( moordyn::WavesRef waves_in )

inline

Set the environmental data.

Parameters

waves_in Global Waves object

◆ stateDims()

const size_t moordyn::Body::stateDims ( ) const

inlinevirtual

Get the dimension of the state variable.

Returns: 7 components for position quaternion and 6 components for linear and angular velocities, i.e. 13 components

Warning: This function shall be called after ::setup()

Reimplemented from moordyn::Instance.

◆ stateN()

const size_t moordyn::Body::stateN ( ) const

inlinevirtual

Get the number of state variables required by this instance.

Returns: 1

Reimplemented from moordyn::Instance.

◆ TypeName()

static string moordyn::Body::TypeName ( types t )

inlinestatic

Return a string with the name of a type.

This tool is useful mainly for debugging

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◆ updateFairlead()

void moordyn::Body::updateFairlead ( real time )

Sets the kinematics based on the position and velocity of the fairlead.

This function is meant only for coupled or fixed bodies

Parameters

time	Local time within the time step (from 0 to dt)

Exceptions

moordyn::invalid_value_error If the body is not of type moordyn::Body::COUPLED or moordyn::Body::FIXED

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Member Data Documentation

◆ M0

mat6 moordyn::Body::M0

starting mass and added mass matrix (6x6) of body without any rod elements in inertial orientation

◆ OrMat

mat moordyn::Body::OrMat

orientation matrix of body (rotation matrix that gets it to its current orientation)

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

/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/Body.hpp
/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/Body.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ types

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ addPoint()

◆ addRod()

◆ Deserialize()

◆ doRHS()

◆ getAngles()

◆ getAngularVelocity()

◆ GetBodyOutput()

◆ getFnet()

◆ getM()

◆ getPosition()

◆ getState() [1/2]

◆ getState() [2/2]

◆ getStateDeriv()

◆ getUnfreeVel()

◆ getVelocity()

◆ getVTK()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ initializeBody()

◆ initializeUnfreeBody()

◆ initiateStep()

◆ saveVTK()

◆ scaleDrag()

◆ Serialize()

◆ setDependentStates()

◆ setState()

◆ setup()

◆ setWaves()

◆ stateDims()

◆ stateN()

◆ TypeName()

◆ updateFairlead()

Member Data Documentation

◆ M0

◆ OrMat