A Mooring system. More...

#include <MoorDyn2.hpp>

Inheritance diagram for moordyn::MoorDyn:

Collaboration diagram for moordyn::MoorDyn:

[legend]

Public Member Functions
DECLDIR	MoorDyn (const char *infilename=NULL, int log_level=MOORDYN_MSG_LEVEL)
	Constructor. More...

DECLDIR	~MoorDyn ()
	Destructor.

moordyn::error_id DECLDIR	Init (const double x, const double xd, bool skip_ic=false)
	Initializes Moordyn, reading the input file and setting up the mooring lines. More...

moordyn::error_id DECLDIR	Step (const double x, const double xd, double *f, double &t, double &dt)
	Runs a time step of the MoorDyn system. More...

vector< Body * >	GetBodies () const
	Get the points.

vector< Rod * >	GetRods () const
	Get the points.

vector< Point * >	GetPoints () const
	Get the points.

vector< Line * >	GetLines () const
	Get the lines.

void	SetDisableOutput (bool disable)
	Set whether console and file output is disabled. More...

unsigned int	NCoupledDOF () const
	Return the number of coupled Degrees Of Freedom (DOF) More...

moordyn::WavesRef DECLDIR	GetWaves () const
	Get the wave kinematics instance. More...

moordyn::SeafloorRef	GetSeafloor () const
	Get the 3D seafloor instance. More...

unsigned int	ExternalWaveKinInit ()
	Initializes the external Wave kinetics. More...

unsigned int	ExternalWaveKinGetN () const
	Get the number of points where the waves kinematics shall be provided. More...

moordyn::error_id DEPRECATED	GetWaveKinCoordinates (double *r) const
	Get the points where the waves kinematics shall be provided. More...

std::vector< vec >	ExternalWaveKinGetPoints () const
	Get the points where the waves kinematics shall be provided. More...

void DEPRECATED	SetWaveKin (std::vector< vec > const &U, std::vector< vec > const &Ud, double t)
	Set the kinematics of the waves. More...

void	ExternalWaveKinSet (std::vector< vec > const &U, std::vector< vec > const &Ud, double t)
	Set the kinematics of the waves. 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) const
	Save the whole system on a VTK (.vtm) file. More...

real	GetDt () const
	Get the model time step. More...

void	SetDt (real dt)
	Set the model time step. More...

real	GetCFL () const
	Get the model Courant–Friedrichs–Lewy factor. More...

void	SetCFL (real cfl)
	Set the model Courant–Friedrichs–Lewy factor. More...

time::Scheme *	GetTimeScheme () const
	Get the current time integrator. More...

void	SetTimeScheme (time::Scheme *tscheme)
	Set the current time integrator. 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...

Protected Member Functions
moordyn::error_id	ReadInFile ()
	Read the input file, setting up all the required objects and their relationships. More...

moordyn::error_id	readFileIntoBuffers (vector< string > &in_txt)
	Read the input file and store it as a set of strings, one per line. More...

int	findStartOfSection (vector< string > &in_txt, vector< string > sectionName)
	Get the file line index where a section starts. More...

LineProps *	readLineProps (string inputText, int lineNum)
	Helper function to read a new line property given a line from the input file. More...

RodProps *	readRodProps (string inputText, int lineNum)
	Helper function to read a new rod property given a line from the input file. More...

Rod *	readRod (string inputText, int lineNum)
	Helper function to read a new rod given a line from the input file. More...

Body *	readBody (string inputText, int lineNum)
	Helper function to read a new body given a line from the input file. More...

void	readOptionsLine (vector< string > &in_txt, int index)
	Helper function to read an option given a line from the input file. More...

bool	checkNumberOfEntriesInLine (vector< string > entries, int supposedNumberOfEntries, int lineNum)
	Check that the provided entries match the expected ones. More...

moordyn::error_id	icStationary ()
	Compute an initial condition using the stationary solver. More...

moordyn::error_id	icLegacy ()
	Compute an initial condition using the legacy upscaled drag dynamic solver. More...

moordyn::error_id	GetForces (double *f) const
	Get the forces. More...

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...

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

Detailed Description

A Mooring system.

This class contains everything required to hold a whole mooring system, making everything thread-friendly easier

Constructor & Destructor Documentation

◆ MoorDyn()

moordyn::MoorDyn::MoorDyn	(	const char *	infilename = `NULL`,
		int	log_level = `MOORDYN_MSG_LEVEL`
	)

Constructor.

Remember to call Init() to initialize the mooring system

Parameters

infilename	The input file, if either NULL or "", then "Mooring/lines.txt" will be considered
log_level	The logging level. It can be changed afterwards

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Member Function Documentation

◆ checkNumberOfEntriesInLine()

bool moordyn::MoorDyn::checkNumberOfEntriesInLine	(	vector< string >	entries,
		int	supposedNumberOfEntries,
		int	lineNum
	)

protected

Check that the provided entries match the expected ones.

If a wrong number of entries is provided an error is printed out

Parameters

entries	Provided entries
supposedNumberOfEntries	Expected number of entries
lineNum	the file line number for error messages

◆ Deserialize()

uint64_t * moordyn::MoorDyn::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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◆ ExternalWaveKinGetN()

unsigned int moordyn::MoorDyn::ExternalWaveKinGetN ( ) const

inline

Get the number of points where the waves kinematics shall be provided.

If env.WaveKin is not WAVES_EXTERNAL, this will return 0

Returns: The number of evaluation points

See also: MoorDyn::ExternalWaveKinInit(); MoorDyn::GetWaves()

◆ ExternalWaveKinGetPoints()

std::vector<vec> moordyn::MoorDyn::ExternalWaveKinGetPoints ( ) const

inline

Get the points where the waves kinematics shall be provided.

The kinematics are provided in those points just if env.WaveKin is WAVES_EXTERNAL. Otherwise moordyn::Waves is used

Returns: The points where the wave kinematics shall be evaluated

See also: MoorDyn::ExternalWaveKinInit(); MoorDyn::GetWaves()

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◆ ExternalWaveKinInit()

unsigned int moordyn::MoorDyn::ExternalWaveKinInit ( )

inline

Initializes the external Wave kinetics.

This is only used if env.WaveKin = WAVES_EXTERNAL

Returns: The number of points where the wave kinematics shall be provided

◆ ExternalWaveKinSet()

void moordyn::MoorDyn::ExternalWaveKinSet	(	std::vector< vec > const &	U,
		std::vector< vec > const &	Ud,
		double	t
	)

inline

Set the kinematics of the waves.

Use this function if env.WaveKin = 1

Parameters

U	The velocities at the points
Ud	The accelerations at the points
t	Simulation time

Exceptions

moordyn::invalid_value_error If the size of U and Ud is not the same than the one reported by MoorDyn::ExternalWaveKinInit()

See also: MoorDyn_InitExtWaves(); MoorDyn_GetWavesCoords()

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◆ findStartOfSection()

int moordyn::MoorDyn::findStartOfSection	(	vector< string > &	in_txt,
		vector< string >	sectionName
	)

protected

Get the file line index where a section starts.

Parameters

in_txt	The list of strings that contains the input file lines
sectionName	The valid section name strings

Returns: The line index, -1 if the section cannot be found

See also: ::ReadInFile(); ::readFileIntoBuffers()

◆ GetCFL()

real moordyn::MoorDyn::GetCFL ( ) const

inline

Get the model Courant–Friedrichs–Lewy factor.

Returns: The CFL

◆ GetDt()

real moordyn::MoorDyn::GetDt ( ) const

inline

Get the model time step.

Returns: The model time step

◆ GetForces()

moordyn::error_id moordyn::MoorDyn::GetForces ( double * f ) const

inlineprotected

Get the forces.

Parameters

f	The forces array

Returns: MOORDYN_SUCCESS If the forces are correctly set, an error code otherwise (see Errors reported by MoorDyn)

Note: You can know the number of components required for f with the function MoorDyn::NCoupledDOF()

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◆ GetSeafloor()

moordyn::SeafloorRef moordyn::MoorDyn::GetSeafloor ( ) const

inline

Get the 3D seafloor instance.

The Seafloor instance is used to represent a floor of varying depth over a rectilinear grid. It allows for finding the seafloor height at any (x, y) point which it calculated using a bilinear interpolation.

◆ GetTimeScheme()

time::Scheme* moordyn::MoorDyn::GetTimeScheme ( ) const

inline

Get the current time integrator.

Returns: The time integrator

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◆ GetWaveKinCoordinates()

moordyn::error_id DEPRECATED moordyn::MoorDyn::GetWaveKinCoordinates ( double * r ) const

inline

Get the points where the waves kinematics shall be provided.

The kinematics are provided in those points just if env.WaveKin is WAVES_EXTERNAL. Otherwise moordyn::Waves is used

Parameters

r	The output coordinates

Returns: MOORDYN_SUCCESS If the data is correctly set, an error code otherwise (see Errors reported by MoorDyn)

Deprecated:: Use MoorDyn::GetWaveKinPoints() instead

See also: MoorDyn::ExternalWaveKinInit(); MoorDyn::GetWaves()

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◆ GetWaves()

moordyn::WavesRef DECLDIR moordyn::MoorDyn::GetWaves ( ) const

inline

Get the wave kinematics instance.

The wave kinematics instance is used if env.WaveKin is one of WAVES_FFT_GRID, WAVES_GRID, WAVES_FFT_NODE, WAVES_NODE or if env.Currents is not CURRENTS_NONE

Returns: The wave knematics instance

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◆ icLegacy()

moordyn::error_id moordyn::MoorDyn::icLegacy ( )

protected

Compute an initial condition using the legacy upscaled drag dynamic solver.

See also: ::ICgenDynamic

◆ icStationary()

moordyn::error_id moordyn::MoorDyn::icStationary ( )

protected

Compute an initial condition using the stationary solver.

See also: ::ICgenDynamic

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◆ Init()

moordyn::error_id moordyn::MoorDyn::Init	(	const double *	x,
		const double *	xd,
		bool	skip_ic = `false`
	)

Initializes Moordyn, reading the input file and setting up the mooring lines.

Parameters

x	Position vector
xd	Velocity vector
skip_ic	true to skip computing the initial condition, false otherwise. You might be interested on skipping the initial condition computation if for install you plan to load a previously saved simulation state

Note: You can know the number of components required for x and xd with the function MoorDyn::NCoupledDOF()

Returns: MOORDYN_SUCCESS If the mooring system is correctly initialized, an error code otherwise (see Errors reported by MoorDyn)

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◆ NCoupledDOF()

unsigned int moordyn::MoorDyn::NCoupledDOF ( ) const

inline

Return the number of coupled Degrees Of Freedom (DOF)

This should match with the number of components of the positions and velocities passed to MoorDyn::Init() and MoorDyn::Step()

The number of coupled DOF is computed as

$n_{dof} = 6 * n_{body} + 3 * n_{point} + 6 * n_{rod} + 3 * n_{pinn}$

with $n_{body}$ the number of coupled bodies, $n_{point}$ the number of coupled points, $n_{rod}$ the number of cantilevered coupled rods, and $n_{pinn}$ the number of pinned coupled rods

Returns: The number of coupled DOF

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◆ readBody()

Body * moordyn::MoorDyn::readBody	(	string	inputText,
		int	lineNum
	)

protected

Helper function to read a new body given a line from the input file.

Parameters

inputText	a string from the Body List section of input file
lineNum	the file line number for error messages

Returns: The body object

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◆ readFileIntoBuffers()

moordyn::error_id moordyn::MoorDyn::readFileIntoBuffers ( vector< string > & in_txt )

protected

Read the input file and store it as a set of strings, one per line.

Parameters

in_txt The output list of strings

Returns: MOORDYN_SUCCESS If the input file is correctly loaded and all the objects are consistently set, an error code otherwise (see Errors reported by MoorDyn)

See also: ::ReadInFile()

◆ ReadInFile()

moordyn::error_id moordyn::MoorDyn::ReadInFile ( )

protected

Read the input file, setting up all the required objects and their relationships.

This function is called from the constructor, so this information is ready when MoorDyn::Init() is called

Returns: MOORDYN_SUCCESS If the input file is correctly loaded and all the objects are consistently set, an error code otherwise (see Errors reported by MoorDyn)

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◆ readLineProps()

LineProps * moordyn::MoorDyn::readLineProps	(	string	inputText,
		int	lineNum
	)

protected

Helper function to read a new line property given a line from the input file.

Parameters

inputText	a string from the Line Properties section of input file
lineNum	the file line number for error messages

Returns: The line properties

◆ readOptionsLine()

void moordyn::MoorDyn::readOptionsLine	(	vector< string > &	in_txt,
		int	index
	)

protected

Helper function to read an option given a line from the input file.

Parameters

in_txt	The list of strings that contains the input file lines
index	The option line index

◆ readRod()

Rod * moordyn::MoorDyn::readRod	(	string	inputText,
		int	lineNum
	)

protected

Helper function to read a new rod given a line from the input file.

Parameters

inputText	a string from the Rod List section of input file
lineNum	the file line number for error messages

Returns: The rod object

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◆ readRodProps()

RodProps * moordyn::MoorDyn::readRodProps	(	string	inputText,
		int	lineNum
	)

protected

Helper function to read a new rod property given a line from the input file.

Parameters

inputText	a string from the Rod Properties section of input file
lineNum	the file line number for error messages

Returns: The rod properties

◆ saveVTK()

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

Save the whole system on a VTK (.vtm) file.

Many times, it is more convenient for the user to save each instance in a separate file. However, if the number of subinstances is too large, that would not be an option anymore. Then you can use this function to save the whole system in a multiblock VTK file

Parameters

filename The output file name

Exceptions

output_file_error If the VTM file, or any of the subentities VTU files, cannot be saved

See also: moordyn::Body::saveVTK(); moordyn::Line::saveVTK(); moordyn::Point::saveVTK(); moordyn::Rod::saveVTK()

◆ Serialize()

std::vector< uint64_t > moordyn::MoorDyn::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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◆ SetCFL()

void moordyn::MoorDyn::SetCFL ( real cfl )

inline

Set the model Courant–Friedrichs–Lewy factor.

Parameters

cfl The CFL

Note: The time step will be changed accordingly

◆ SetDisableOutput()

void moordyn::MoorDyn::SetDisableOutput ( bool disable )

inline

Set whether console and file output is disabled.

Parameters

disable

◆ SetDt()

void moordyn::MoorDyn::SetDt ( real dt )

inline

Set the model time step.

Parameters

dt	The model time step

Note: The CFL will be changed accordingly

◆ SetTimeScheme()

void moordyn::MoorDyn::SetTimeScheme ( time::Scheme * tscheme )

inline

Set the current time integrator.

Returns: The time integrator

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◆ SetWaveKin()

void DEPRECATED moordyn::MoorDyn::SetWaveKin	(	std::vector< vec > const &	U,
		std::vector< vec > const &	Ud,
		double	t
	)

inline

Set the kinematics of the waves.

Use this function if env.WaveKin = 1

Parameters

U	The velocities at the points
Ud	The accelerations at the points
t	Simulation time

Exceptions

moordyn::invalid_value_error If the size of U and Ud is not the same than the one reported by MoorDyn::ExternalWaveKinInit()

See also: MoorDyn_InitExtWaves(); MoorDyn_GetWavesCoords()

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◆ Step()

moordyn::error_id DECLDIR moordyn::MoorDyn::Step	(	const double *	x,
		const double *	xd,
		double *	f,
		double &	t,
		double &	dt
	)

Runs a time step of the MoorDyn system.

Parameters

x	Position vector
xd	Velocity vector
f	Output forces
t	Simulation time
dt	Time step

Returns: MOORDYN_SUCCESS If the mooring system is correctly evolved, an error code otherwise (see Errors reported by MoorDyn)

Note: You can know the number of components required for x, xd and f with the function MoorDyn::NCoupledDOF()

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

/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/MoorDyn2.hpp
/home/docs/checkouts/readthedocs.org/user_builds/moordyn/checkouts/latest/source/MoorDyn2.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MoorDyn()

Member Function Documentation

◆ checkNumberOfEntriesInLine()

◆ Deserialize()

◆ ExternalWaveKinGetN()

◆ ExternalWaveKinGetPoints()

◆ ExternalWaveKinInit()

◆ ExternalWaveKinSet()

◆ findStartOfSection()

◆ GetCFL()

◆ GetDt()

◆ GetForces()

◆ GetSeafloor()

◆ GetTimeScheme()

◆ GetWaveKinCoordinates()

◆ GetWaves()

◆ icLegacy()

◆ icStationary()

◆ Init()

◆ NCoupledDOF()

◆ readBody()

◆ readFileIntoBuffers()

◆ ReadInFile()

◆ readLineProps()

◆ readOptionsLine()

◆ readRod()

◆ readRodProps()

◆ saveVTK()

◆ Serialize()

◆ SetCFL()

◆ SetDisableOutput()

◆ SetDt()

◆ SetTimeScheme()

◆ SetWaveKin()

◆ Step()