Concentric-Tube-Robot/html/ODESystem_8hpp_source.html

#pragma once


#include <blaze/Math.h>

#include "mathOperations.hpp"


typedef blaze::StaticVector<double, 15UL> state_type;


class ODESystem

{

private:

    blaze::StaticVector<double, 3UL> m_u_ast_x;


    blaze::StaticVector<double, 3UL> m_u_ast_y;


    blaze::StaticVector<double, 3UL> m_EI;


    blaze::StaticVector<double, 3UL> m_GJ;


    blaze::StaticVector<double, 3UL> m_e3;


    blaze::StaticVector<double, 3UL> m_f;


public:

    ODESystem();


    ODESystem(const blaze::StaticVector<double, 3UL> &u_ast_x, const blaze::StaticVector<double, 3UL> &u_ast_y, const blaze::StaticVector<double, 3UL> &EI, const blaze::StaticVector<double, 3UL> &GJ);


    ODESystem(const ODESystem &rhs);


    ODESystem(ODESystem &&rhs) noexcept;


    ~ODESystem() = default;


    ODESystem &operator=(const ODESystem &rhs);


    ODESystem &operator=(ODESystem &&rhs) noexcept;


    void operator()(const state_type &y, state_type &dyds, const double s) noexcept;


    void setEquationParameters(const blaze::StaticVector<double, 3UL> &u_ast_x,

                               const blaze::StaticVector<double, 3UL> &u_ast_y,

                               const blaze::StaticVector<double, 3UL> &EI,

                               const blaze::StaticVector<double, 3UL> &GJ,

                               const blaze::StaticVector<double, 3UL> &force);

};

class ODESystem {…};

ODESystem
Implements system of Ordinary Differential equations (ODEs) that model the kinematics of a three-tube...
Definition ODESystem.hpp:12

ODESystem::m_GJ
blaze::StaticVector< double, 3UL > m_GJ
Torsional stiffness of each tube in the current segment. If a tube is not present in the current segm...
Definition ODESystem.hpp:36

ODESystem::m_u_ast_y
blaze::StaticVector< double, 3UL > m_u_ast_y
Pre-curvature of the tubes along the 'y' direction in the current segment. The i-th entry of the vect...
Definition ODESystem.hpp:24

ODESystem::ODESystem
ODESystem()
Implements the default constructor for the ODESystem class.
Definition ODESystem.cpp:6

ODESystem::m_EI
blaze::StaticVector< double, 3UL > m_EI
Bending stiffness of each of the tubes in the current segment. If a tube is not present in the curren...
Definition ODESystem.hpp:30

ODESystem::~ODESystem
~ODESystem()=default
Destroys the ODESystem object.

ODESystem::m_f
blaze::StaticVector< double, 3UL > m_f
Point force acting at the distal end of the CTR.
Definition ODESystem.hpp:46

ODESystem::operator()
void operator()(const state_type &y, state_type &dyds, const double s) noexcept
Functor that overloads the constructor's signature and implements the system of ODEs governing a thre...
Definition ODESystem.cpp:69

ODESystem::setEquationParameters
void setEquationParameters(const blaze::StaticVector< double, 3UL > &u_ast_x, const blaze::StaticVector< double, 3UL > &u_ast_y, const blaze::StaticVector< double, 3UL > &EI, const blaze::StaticVector< double, 3UL > &GJ, const blaze::StaticVector< double, 3UL > &force)
Implements a setter method for updating the kinematic parameters before computation of the ODEs at ea...
Definition ODESystem.cpp:152

ODESystem::operator=
ODESystem & operator=(const ODESystem &rhs)
Implements the copy assignment operator for the ODESystem class.
Definition ODESystem.cpp:37

ODESystem::m_e3
blaze::StaticVector< double, 3UL > m_e3
A unit vector in the z-direction.
Definition ODESystem.hpp:41

ODESystem::m_u_ast_x
blaze::StaticVector< double, 3UL > m_u_ast_x
Pre-curvature of the tubes along the 'x' direction in the current segment. The i-th entry of the vect...
Definition ODESystem.hpp:18