MoorDyn2 C++ API namespace. More...

Classes
class	Body
	A rigid body. More...

class	Instance
	A generic instance. More...

class	Line
	A mooring line. More...

class	null_out_buf
	Null buffer to avoid printing on screen. More...

class	MultiStream
	Streamer able to redirect the output to several substreams. More...

class	Log
	A Logging utility. More...

class	LogUser
	A helper for the entities to use the logger. More...

struct	XYZQuat
	Joint of a point and a quaternion. More...

struct	_FailProps
	Failure conditions. More...

class	MoorDyn
	A Mooring system. More...

class	Point
	A point for a line endpoint. More...

class	Rod
	A cylindrical rod. More...

class	Seafloor
	Bathymetry description for MoorDyn. More...

struct	SeafloorProvider
	Helper for moordyn::AbstractCurrentKin. More...

class	AbstractCurrentKin
	An abstract class representing the capability of providing water current data at some point and time. More...

class	AbstractWaveKin
	An abstract class representing having the capability of providing wave kinematics data. More...

class	SpectrumKinWrapper
	Wrapper around waves::SpectrumKin to make it adhere to the AbstractWaveKin interface. More...

class	GridXYZT
	A rectilinear grid with x, y, z, and t axes. More...

class	WaveGrid
	Contains the data and functionality for the Wave grid kinematics modes. More...

class	CurrentGrid
	Contains grid based current data. More...

class	Waves
	Class that handles wave and current kinematics. More...

Typedefs
typedef std::shared_ptr< Waves >	WavesRef

typedef double	real
	Real numbers wrapper. It is either double or float.

typedef Eigen::Vector2d	vec2
	2-D vector of real numbers

typedef Eigen::Vector3d	vec3
	3-D vector of real numbers

typedef Eigen::Vector4d	vec4
	4-D vector of real numbers

typedef Eigen::Vector6d	vec6
	6-D vector of real numbers

typedef Eigen::Vector7d	vec7
	7-D vector of real numbers

typedef vec3	vec
	vec3 renaming

typedef Eigen::Matrix2d	mat2
	2x2 matrix of real numbers

typedef Eigen::Matrix3d	mat3
	3x3 matrix of real numbers

typedef Eigen::Matrix4d	mat4
	4x4 matrix of real numbers

typedef Eigen::Matrix6d	mat6
	6x6 matrix of real numbers

typedef Eigen::Matrix7d	mat7
	7x7 matrix of real numbers

typedef mat3	mat
	mat3 renaming

typedef Eigen::Quaterniond	quaternion
	Quaternion of real numbers.

typedef Eigen::Matrix< real, Eigen::Dynamic, 1 >	list
	A resizable list of reals.

typedef Eigen::Vector2i	ivec2
	2-D vector of integers

typedef Eigen::Vector3i	ivec3
	3-D vector of integers

typedef Eigen::Vector4i	ivec4
	4-D vector of integers

typedef Eigen::Vector6i	ivec6
	6-D vector of integers

typedef Eigen::Vector7i	ivec7
	7-D vector of integers

typedef ivec3	ivec
	Renaming of ivec3.

typedef std::complex< real >	complex
	Complex numbers.

typedef Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic >	InstanceStateVar
	State variables for a particular instance.

typedef Eigen::Block< InstanceStateVar, Eigen::Dynamic >	InstanceStateVarView
	View of the State variables for a particular instance.

typedef Eigen::Matrix< InstanceStateVar, Eigen::Dynamic, 1 >	StateVar
	State variable.

typedef Eigen::VectorBlock< StateVar, Eigen::Dynamic >	StateVarView
	View of the State variable.

typedef int	error_id
	Error identifier.

typedef struct moordyn::_FailProps	FailProps
	Failure conditions.

typedef std::shared_ptr< Seafloor >	SeafloorRef
	Shared pointer.

template<class T >
using	Vec2D = std::vector< std::vector< T > >
	STL std::vector of 2 dimensions.

template<class T >
using	Vec3D = std::vector< std::vector< std::vector< T > >>
	STL std::vector of 3 dimensions.

template<class T >
using	Vec4D = std::vector< std::vector< std::vector< std::vector< T > >> >
	STL std::vector of 4 dimensions.

Enumerations
enum	EndPoints { ENDPOINT_A = 0 , ENDPOINT_B = 1 , ENDPOINT_BOTTOM = ENDPOINT_A , ENDPOINT_TOP = ENDPOINT_B }
	End point qualifiers. More...

enum	seafloor_settings { SEAFLOOR_FLAT = 0 , SEAFLOOR_3D = 1 }

Functions
std::atomic< size_t >	__instances_counter (0)

void	reset_instance_ids ()
	Reset the instances Ids, so they will be assigned again starting from 0.

std::string	log_level_name (int level)
	Name the log level. More...

template<class T >
MultiStream &	operator<< (MultiStream &st, T val)
	Streaming to the log file and the terminal.

vec6	solveMat6 (const mat6 &mat, const vec6 &vec)
	Solves a 6x6 system of equations M * a = b. More...

mat6	translateMass (vec r, mat M)
	Compute the mass matrix on an offset point. More...

mat6	translateMass6 (vec r, mat6 M)
	Compute the mass matrix on an offset point. More...

mat6	rotateMass6 (mat R, mat6 M)
	rotation to a 6x6 mass/inertia tensor More...

void	transformKinematics (const vec &rRelBody, const mat &M, const vec &r, const vec6 &rd, vec &rOut, vec &rdOut)
	calculate position and velocity of point based on its position relative to moving 6DOF body More...

std::pair< real, real >	orientationAngles (vec q)
	Get the spherical angles for a vector. More...

moordyn::real	GetCurvature (moordyn::real length, const vec &q1, const vec &q2)
	Convenience function to calculate curvature based on adjacent segments' direction vectors and their combined length. More...

bool	EqualRealNos (const real a1, const real a2)
	This function compares two real numbers and determines if they are "almost" equal. More...

vec3	canonicalEulerAngles (const quaternion &quat, int a0, int a1, int a2)

vec3	Quat2Euler (const quaternion &q)

quaternion	Euler2Quat (const vec3 &angles)

const complex	i1 (0., 1.)
	The imaginary unit.

template<typename T >
void	vec2array (const vec &v, T *a)
	Convert a vector to a C-ish array. More...

template<typename T >
void	array2vec (const T *a, vec &v)
	Convert a C-ish array to a vector. More...

template<typename T >
void	vec62array (const vec6 &v, T *a)
	Convert a vector to a C-ish array. More...

template<typename T >
void	array2vec6 (const T *a, vec6 &v)
	Convert a C-ish array to a vector. More...

template<typename T >
void	mat2array (const mat &v, T a[3][3])
	Convert a matrix to a C-ish array. More...

template<typename T >
void	array2mat (const T a[3][3], mat &v)
	Convert a C-ish array to a matrix. More...

template<typename T >
void	mat62array (const mat6 &v, T a[6][6])
	Convert a matrix to a C-ish array. More...

template<typename T >
void	array2mat6 (const T a[6][6], mat6 &v)
	Convert a C-ish array to a matrix. More...

template<typename T >
std::vector< T >	vector_slice (std::vector< T > const &v, unsigned int m, unsigned int n)

template<typename T >
std::vector< T >	vector_slice (std::vector< T > const &v, unsigned int n)

template<typename T >
void	vector_extend (std::vector< T > &v, std::vector< T > const &v_prime)

template<typename T , int NROWS, int NCOLS>
std::vector< T >	flatten (std::vector< Eigen::Matrix< T, NROWS, NCOLS >> const &v)
	Flatten a list of vectors or matrices. More...

char	end_point_name (EndPoints p)
	Gives an character representation of the end point. More...

moordyn::real	unitvector (vec &u, const vec &r1, const vec &r2)
	Normalized direction vector. More...

template<typename T >
void	scalevector (const vec &u, T newlength, vec &y)
	Compute a vector with the same direction but different length. More...

mat	getH (vec r)
	Produce alternator matrix. More...

mat	rotateMass (mat R, mat M)
	rotation to a 3x3 mass matrix or any other second order tensor More...

mat	RotX (real rads)
	Rotation matrix around x axis. More...

mat	RotY (real rads)
	Rotation matrix around y axis. More...

mat	RotZ (real rads)
	Rotation matrix around z axis. More...

std::atomic< size_t >	__systems_counter (0)

real	calcSubSeg (vec p1, vec p2, real surface_height, real diameter)

unsigned int	calcInsertIndex (std::vector< real > &list, real value)

std::vector< real >	gridAxisCoords (Waves::coordtypes coordtype, vector< string > &entries)
	Compute the coordinates from a grid definition entry line. More...

Variables
null_out_buf	__cnul_buff
	The buffer to nowhere. More...

std::ostream &	cnul = __cnul

const real	pi = 3.141592653589793238462643383279502884197169399375105820974944
	Pi constant.

const real	rad2deg = 180.0 / pi
	Constant to convert radians into degrees.

const real	deg2rad = pi / 180.0
	Constant to convert degrees into radians.

const char *	UnitList []
	The list of units for the output. More...

Detailed Description

MoorDyn2 C++ API namespace.

Typedef Documentation

◆ WavesRef

typedef std::shared_ptr< Waves > moordyn::WavesRef

Renaming the shared pointer to be a little more ergonomic

Enumeration Type Documentation

◆ EndPoints

enum moordyn::EndPoints

End point qualifiers.

Used for both lines and rods

Enumerator
ENDPOINT_A	Bottom of the line.
ENDPOINT_B	Top of the line.

Function Documentation

◆ array2mat()

template<typename T >

void moordyn::array2mat	(	const T	a[3][3],
		mat &	v
	)

inline

Convert a C-ish array to a matrix.

Parameters

a	The input array
v	The output matrix

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◆ array2mat6()

template<typename T >

void moordyn::array2mat6	(	const T	a[6][6],
		mat6 &	v
	)

inline

Convert a C-ish array to a matrix.

Parameters

a	The input array
v	The output matrix

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◆ array2vec()

template<typename T >

void moordyn::array2vec	(	const T *	a,
		vec &	v
	)

inline

Convert a C-ish array to a vector.

Parameters

a	The input array
v	The output vector

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◆ array2vec6()

template<typename T >

void moordyn::array2vec6	(	const T *	a,
		vec6 &	v
	)

inline

Convert a C-ish array to a vector.

Parameters

a	The input array
v	The output vector

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◆ end_point_name()

char moordyn::end_point_name ( EndPoints p )

inline

Gives an character representation of the end point.

Returns: The endpoint char

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◆ EqualRealNos()

bool moordyn::EqualRealNos	(	const real	a1,
		const real	a2
	)

inline

This function compares two real numbers and determines if they are "almost" equal.

"almost" equal means equal within some relative tolerance (basically ignoring the last 2 significant digits) (see "Safe Comparisons" suggestion from http://www.lahey.com/float.htm)

Parameters

a1	The first real number to compare
a2	The second real number to compare

Returns: true if and only if the numbers are almost equal, false otherwise

Note: The numbers are added together in this routine, so overflow can result if comparing two "huge" numbers.; Use this function instead of directly calling a specific routine in the generic interface.

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◆ flatten()

template<typename T , int NROWS, int NCOLS>

std::vector<T> moordyn::flatten ( std::vector< Eigen::Matrix< T, NROWS, NCOLS >> const & v )

Flatten a list of vectors or matrices.

This function produced a flattened version ready for saving on VTK arrays

Parameters

v	The list of vectors or matrices

Returns: The flattened list of values

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◆ gridAxisCoords()

std::vector< real > moordyn::gridAxisCoords	(	Waves::coordtypes	coordtype,
		vector< string > &	entries
	)

Compute the coordinates from a grid definition entry line.

Parameters

coordtype	The type of coordinates input
entries	Nothing if `coordtype` is 0; the list of coordinates if `coordtype` is 1 and minimum limit; the maximum limit and the number of points if `coordtype` is 2

Returns: The list of coordinates

Warning: Memory will be allocated in coordarray. The user is responsible of deallocating it afterwards

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◆ log_level_name()

std::string moordyn::log_level_name ( int level )

Name the log level.

Parameters

level The log level

See also: Moordyn_log

◆ mat2array()

template<typename T >

void moordyn::mat2array	(	const mat &	v,
		T	a[3][3]
	)

inline

Convert a matrix to a C-ish array.

Parameters

v	The input matrix
a	The output array

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◆ mat62array()

template<typename T >

void moordyn::mat62array	(	const mat6 &	v,
		T	a[6][6]
	)

inline

Convert a matrix to a C-ish array.

Parameters

v	The input matrix
a	The output array

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◆ solveMat6()

vec6 DECLDIR moordyn::solveMat6	(	const mat6 &	mat,
		const vec6 &	vec
	)

Solves a 6x6 system of equations M * a = b.

Uses Eigen::ColPivHouseholderQR which means it doesn't have any particular constraints on the matrix properties. Has high accuracy and good speed.

Parameters

mat	6x6 Matrix (M in M * a = b)
vec	6x1 Vector (b in M * a = b)

Returns: vec6 Resulting solution (a in M * a = b)

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◆ vec2array()

template<typename T >

void moordyn::vec2array	(	const vec &	v,
		T *	a
	)

inline

Convert a vector to a C-ish array.

Parameters

v	The input vector
a	The output array

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◆ vec62array()

template<typename T >

void moordyn::vec62array	(	const vec6 &	v,
		T *	a
	)

inline

Convert a vector to a C-ish array.

Parameters

v	The input vector
a	The output array

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◆ vector_extend()

template<typename T >

void moordyn::vector_extend	(	std::vector< T > &	v,
		std::vector< T > const &	v_prime
	)

Extend a C++ vector

Parameters

v	The vector to slice
v_prime	The vector to be concatenated

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◆ vector_slice() [1/2]

template<typename T >

std::vector<T> moordyn::vector_slice	(	std::vector< T > const &	v,
		unsigned int	m,
		unsigned int	n
	)

Slice a C++ vector

Parameters

v	The vector to slice
m	The first element to consider
n	The number of elements

Returns: The sliced vector

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◆ vector_slice() [2/2]

template<typename T >

std::vector<T> moordyn::vector_slice	(	std::vector< T > const &	v,
		unsigned int	n
	)

Slice a C++ vector

Parameters

v	The vector to slice
n	The number of elements

Returns: The sliced vector

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Variable Documentation

◆ __cnul_buff

std::ostream __cnul & moordyn::__cnul_buff

The buffer to nowhere.

Stream to nowhere.

◆ cnul

std::ostream& moordyn::cnul = __cnul

Stream to nowhere, used when verbosity is not large enough to print the message

◆ UnitList

const char* moordyn::UnitList[]

Initial value:

= {
    "s",                    
    "m", "m", "m",          
    "deg", "deg", "deg",    
    "m/s", "m/s", "m/s",    
    "deg/s", "deg/s", "deg/s",    
    "m/s^2", "m/s^2", "m/s^2",     
    "deg/s^2", "deg/s^2", "deg/s^2", 
    "N",                             
    "N", "N", "N",                   
    "N*m", "N*m", "N*m",             
    "(frac)"                         
}

The list of units for the output.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ WavesRef

Enumeration Type Documentation

◆ EndPoints

Function Documentation

◆ array2mat()

◆ array2mat6()

◆ array2vec()

◆ array2vec6()

◆ end_point_name()

◆ EqualRealNos()

◆ flatten()

◆ gridAxisCoords()

◆ log_level_name()

◆ mat2array()

◆ mat62array()

◆ solveMat6()

◆ vec2array()

◆ vec62array()

◆ vector_extend()

◆ vector_slice() [1/2]

◆ vector_slice() [2/2]

Variable Documentation

◆ __cnul_buff

◆ cnul

◆ UnitList