A point for a line endpoint. More...

#include <Point.hpp>

Inheritance diagram for moordyn::Point:

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Collaboration diagram for moordyn::Point:

[legend]

Classes
struct	_attachment
	Attached lines to the point. More...

Public Types
enum	types { COUPLED = -1 , FREE = 0 , FIXED = 1 , VESSEL = COUPLED , FAIRLEAD = COUPLED , POINT = FREE , ANCHOR = FIXED }
	Types of points. More...

typedef struct moordyn::Point::_attachment	attachment
	Attached lines to the point.

Public Member Functions
	Point (moordyn::Log *log, size_t id)
	Constructor. More...

	~Point ()
	Destructor.

void	setTime (real time)
	Set the line simulation time. More...

void	setup (int number_in, types type_in, vec r0_in, double M_in, double V_in, vec F_in, double CdA_in, double Ca_in, EnvCondRef env_in)
	Setup the point. More...

void	addLine (moordyn::Line *theLine, EndPoints end_point)
	Attach a line endpoint to this point. More...

EndPoints	removeLine (Line *line)
	Detach a line. More...

std::vector< attachment >	getLines () const
	Get the list of attachments. More...

std::pair< vec, vec >	initialize ()
	Initialize the FREE point state. More...

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

const vec &	getPosition () const
	Get the point position. More...

const vec &	getVelocity () const
	Get the point velocity. More...

void	getState (vec &r_out, vec &rd_out)
	Get the point state. More...

std::pair< vec, vec >	getState ()
	Get the point state. More...

void	getFnet (vec &Fnet_out) const
	Get the force on the point. More...

const vec &	getFnet () const
	Get the force on the point. More...

void	getM (mat &M_out) const
	Get the mass matrix. More...

const mat &	getM () const
	Get the mass matrix. More...

real	GetPointOutput (OutChanProps outChan)
	Get the output. More...

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

void	scaleDrag (real scaler)
	Multiply the drag by a factor. More...

void	initiateStep (vec rFairIn, vec rdFairIn)
	Initialize the time step integration. More...

void	updateFairlead (real time)
	Take the kinematics from the fairlead information. More...

void	setKinematics (vec r_in, vec rd_in)
	Take the kinematics from the fairlead information. 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
size_t	pointId
	Point ID.

int	number
	Point number.

types	type
	Point type.

void	setState (vec pos, vec vel)
	Set the state variables. More...

void	setState (const InstanceStateVarView r)
	Set the point state. More...

void	getStateDeriv (InstanceStateVarView drdt)
	Calculate the forces and state derivatives of the point. More...

void	getNetForceAndMass (vec6 &Fnet_out, mat6 &M_out, vec rBody=vec::Zero(), vec6 vBody=vec6::Zero())
	Calculate the force and mass contributions of the point on the parent body. More...

moordyn::error_id	doRHS ()
	Calculates the forces and mass on the point, including from attached lines. More...

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 point 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 point for a line endpoint.

Each line must have 2 points at each endpoint, which are used to define how those points are moving. There are 3 basic types of points:

Fixed: The point is fixed, either to a unmovable point (i.e. an anchor or to a Body
Free: The point freely moves, with its own translational degrees of freedom, to provide a point point between multiple mooring lines or an unconnected termination point of a Line, which could have a clump weight or float via the point's mass and volume parameters
Coupled: The point position and velocity is externally imposed

Member Enumeration Documentation

◆ types

enum moordyn::Point::types

Types of points.

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.

Constructor & Destructor Documentation

◆ Point()

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

Constructor.

Parameters

log	Logging handler
id	Unique identifier of this instance

Member Function Documentation

◆ addLine()

void moordyn::Point::addLine	(	moordyn::Line *	theLine,
		EndPoints	end_point
	)

Attach a line endpoint to this point.

Parameters

theLine	The line to be attached
end_point	The line endpoint

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◆ Deserialize()

uint64_t * moordyn::Point::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()

moordyn::error_id moordyn::Point::doRHS ( )

Calculates the forces and mass on the point, including from attached lines.

Returns: MOORDYN_SUCCESS upon success, an error code otherwise

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◆ getFnet() [1/2]

const vec& moordyn::Point::getFnet ( ) const

inline

Get the force on the point.

Returns: The output force [x,y,z]

◆ getFnet() [2/2]

void moordyn::Point::getFnet ( vec & Fnet_out ) const

inline

Get the force on the point.

Parameters

Fnet_out The output force [x,y,z]

◆ getLines()

std::vector<attachment> moordyn::Point::getLines ( ) const

inline

Get the list of attachments.

Returns: The list of attachments

◆ getM() [1/2]

const mat& moordyn::Point::getM ( ) const

inline

Get the mass matrix.

Returns: The mass matrix

◆ getM() [2/2]

void moordyn::Point::getM ( mat & M_out ) const

inline

Get the mass matrix.

Parameters

M_out The output mass matrix

◆ getNetForceAndMass()

void moordyn::Point::getNetForceAndMass	(	vec6 &	Fnet_out,
		mat6 &	M_out,
		vec	rBody = `vec::Zero()`,
		vec6	vBody = `vec6::Zero()`
	)

Calculate the force and mass contributions of the point on the parent body.

Parameters

Fnet_out	Output Force about body ref point
M_out	Output Mass matrix about body ref point
rBody	The body position
vBody	The body velocity

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◆ GetPointOutput()

real moordyn::Point::GetPointOutput ( OutChanProps outChan )

Get the output.

Parameters

outChan The query

Returns: The data, 0.0 if no such data can be found

◆ getPosition()

const vec& moordyn::Point::getPosition ( ) const

inline

Get the point position.

Returns: The position [x,y,z]

◆ getState() [1/2]

std::pair<vec, vec> moordyn::Point::getState ( )

inline

Get the point state.

Returns: The position and velocity

◆ getState() [2/2]

void moordyn::Point::getState	(	vec &	r_out,
		vec &	rd_out
	)

inline

Get the point state.

Parameters

r_out	The output position [x,y,z]
rd_out	The output velocity [x,y,z]

◆ getStateDeriv()

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

virtual

Calculate the forces and state derivatives of the point.

Parameters

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

Exceptions

moordyn::invalid_value_error If it is not a FREE point

Implements moordyn::Instance.

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◆ getVelocity()

const vec& moordyn::Point::getVelocity ( ) const

inline

Get the point velocity.

Returns: The velocity [x,y,z]

◆ getVTK()

const leanvtk::VTPWriter* moordyn::Point::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< vec, vec > moordyn::Point::initialize ( )

Initialize the FREE point state.

Parameters

r	The output state variable

Returns: The position (first) and the velocity (second)

Exceptions

moordyn::invalid_value_error If it is not a FREE point

◆ initialize() [2/2]

void moordyn::Point::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.

◆ initiateStep()

void moordyn::Point::initiateStep	(	vec	rFairIn,
		vec	rdFairIn
	)

Initialize the time step integration.

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

Parameters

rFairIn	Fairlead position
rdFairIn	Fairlead velocity

Exceptions

moordyn::invalid_value_error If it is not a COUPLED point

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◆ removeLine()

EndPoints moordyn::Point::removeLine ( Line * line )

Detach a line.

Parameters

line The line

Returns: The line end point that was attached to the point

Exceptions

moordyn::invalid_value_error If there is no an attached line with the provided lineID

◆ saveVTK()

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

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

Parameters

filename The output file name

Exceptions

output_file_error If the file cannot be saved

◆ scaleDrag()

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

inline

Multiply the drag by a factor.

function for boosting drag coefficients during IC generation

Parameters

scaler Drag factor

◆ Serialize()

std::vector< uint64_t > moordyn::Point::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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◆ setKinematics()

void moordyn::Point::setKinematics	(	vec	r_in,
		vec	rd_in
	)

Take the kinematics from the fairlead information.

sets Point states and ends of attached lines ONLY if this Point is attached to a body, i.e. type = FIXED (otherwise shouldn't be called)

Parameters

r_in	Position
rd_in	Velocity

Exceptions

moordyn::invalid_value_error If it is not a FIXED point

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◆ setState() [1/2]

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

inlinevirtual

Set the point state.

sets Pointstate and ends of attached lines ONLY if this Point is free, i.e. type = FREE (otherwise shouldn't be called)

Parameters

r	The point state instance

Exceptions

moordyn::invalid_value_error If it is not a FREE point

Note: this calls Point::SetState(pos, vel)

Implements moordyn::Instance.

◆ setState() [2/2]

void moordyn::Point::setState	(	vec	pos,
		vec	vel
	)

Set the state variables.

sets Point position and velocity and ends of attached lines ONLY if this Point is free, i.e. type = FREE (otherwise shouldn't be called)

Parameters

pos	Position
vel	Velocity

Exceptions

moordyn::invalid_value_error If it is not a FREE point

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◆ setTime()

void moordyn::Point::setTime ( real time )

inline

Set the line simulation time.

Parameters

time	Simulation time

◆ setup()

void moordyn::Point::setup	(	int	number_in,
		types	type_in,
		vec	r0_in,
		double	M_in,
		double	V_in,
		vec	F_in,
		double	CdA_in,
		double	Ca_in,
		EnvCondRef	env_in
	)

Setup the point.

Always call this function after the constructor

Parameters

number_in	The point identifier. The identifiers starts at 1, not at 0.
type_in	One of COUPLED, FREE or FIXED
r0_in	The initial position
M_in	The mass
V_in	The volume
F_in	The initial force on the node
CdA_in	Product of drag coefficient and projected area
Ca_in	Added mass coefficient used along with V to calculate added mass on node
env_in	Global struct that holds environmental settings

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◆ setWaves()

void moordyn::Point::setWaves	(	moordyn::WavesRef	waves_in,
		moordyn::SeafloorRef	seafloor_in
	)

inline

Set the environmental data.

Parameters

waves_in	Global Waves object
seafloor_in	Global 3D Seafloor object

◆ stateDims()

const size_t moordyn::Point::stateDims ( ) const

inlinevirtual

Get the dimension of the state variable.

Returns: 3 components for positions and 3 components for velocities, i.e. 6 components

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

Reimplemented from moordyn::Instance.

◆ stateN()

const size_t moordyn::Point::stateN ( ) const

inlinevirtual

Get the number of state variables required by this instance.

Returns: 1

Reimplemented from moordyn::Instance.

◆ TypeName()

static string moordyn::Point::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::Point::updateFairlead ( real time )

Take the kinematics from the fairlead information.

Sets Point states and ends of attached lines ONLY if this Point is driven externally, i.e. type = COUPLED (otherwise shouldn't be called)

Parameters

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

Exceptions

moordyn::invalid_value_error If it is not a COUPLED point

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ types

Constructor & Destructor Documentation

◆ Point()

Member Function Documentation

◆ addLine()

◆ Deserialize()

◆ doRHS()

◆ getFnet() [1/2]

◆ getFnet() [2/2]

◆ getLines()

◆ getM() [1/2]

◆ getM() [2/2]

◆ getNetForceAndMass()

◆ GetPointOutput()

◆ getPosition()

◆ getState() [1/2]

◆ getState() [2/2]

◆ getStateDeriv()

◆ getVelocity()

◆ getVTK()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ initiateStep()

◆ removeLine()

◆ saveVTK()

◆ scaleDrag()

◆ Serialize()

◆ setKinematics()

◆ setState() [1/2]

◆ setState() [2/2]

◆ setTime()

◆ setup()

◆ setWaves()

◆ stateDims()

◆ stateN()

◆ TypeName()

◆ updateFairlead()