ODESystem Class Reference

Implements system of Ordinary Differential equations (ODEs) that model the kinematics of a three-tube CTR. More...

#include <ODESystem.hpp>

Collaboration diagram for ODESystem:

Public Member Functions
	ODESystem ()
	Implements the default constructor for the ODESystem class.
	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)
	Implements the overloaded constructor for the ODESystem class.
	ODESystem (const ODESystem &rhs)
	Implements the copy constructor for the ODESystem class.
	ODESystem (ODESystem &&rhs) noexcept
	Implements the move constructor for the ODESystem class.
	~ODESystem ()=default
	Destroys the ODESystem object.
ODESystem &	operator= (const ODESystem &rhs)
	Implements the copy assignment operator for the ODESystem class.
ODESystem &	operator= (ODESystem &&rhs) noexcept
	Implements the move assignment operator for the ODESystem class.
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 three-tube CTR.
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 each arc-length 's'.

Private Attributes
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 vector corresponds to the pre-curvature in the x-direction for the i-th tube in the concentric arrangement.
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 vector corresponds to the pre-curvature in the y-direction for the i-th tube in the concentric arrangement.
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 current segment, the corresponding entry will be zero.
blaze::StaticVector< double, 3UL >	m_GJ
	Torsional stiffness of each tube in the current segment. If a tube is not present in the current segment, the corresponding entry will be zero.
blaze::StaticVector< double, 3UL >	m_e3
	A unit vector in the z-direction.
blaze::StaticVector< double, 3UL >	m_f
	Point force acting at the distal end of the CTR.

Detailed Description

Implements system of Ordinary Differential equations (ODEs) that model the kinematics of a three-tube CTR.

Constructor & Destructor Documentation

ODESystem() [1/3]

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 )

Implements the overloaded constructor for the ODESystem class.

Parameters

u_ast_x	A 3-dimensional static Blaze vector of the pre-curvature of the tubes along the 'x' direction in the present segment.
u_ast_y	A 3-dimensional static Blaze vector of the pre-curvature of the tubes along the 'x' direction in the present segment.
EI	A 3-dimensional static Blaze vector of bending stiffness of each one of the tubes in the present segment. If the i-th tube isn't present in the current segment, the i-th entry of EI_i will be zero.
GJ	A 3-dimensional static Blaze vector of torsional stiffness of each one of the tubes in the present segment. If the i-th tube isn't present in the current segment, the i-th entry of GJ_i will be zero.

ODESystem() [2/3]

ODESystem::ODESystem

(

const ODESystem &

rhs

)

Implements the copy constructor for the ODESystem class.

Parameters

rhs	The source ODESystem object to copy from.

ODESystem() [3/3]

ODESystem::ODESystem ( ODESystem && rhs )

noexcept

Implements the move constructor for the ODESystem class.

Parameters

rhs	The source ODESystem object to move from.

Member Function Documentation

operator()()

void ODESystem::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 three-tube CTR.

Parameters

y	A 15-dimensional static Blaze vector containing the current values of the state vector at the arc-length 's' within the current segment.
dyds	A 15-dimensional static Blaze vector to be computed by the functor. Once the functor is executed, 'dyds' corresponds to the spatial derivative of the state vector at the arc-length 's'.
s	The nonnegative scalar corresponding to the arc-length along the CTR backbone at which the computations are taking place

operator=() [1/2]

ODESystem & ODESystem::operator=

(

const ODESystem &

rhs

)

Implements the copy assignment operator for the ODESystem class.

Parameters

rhs	The source ODESystem object to copy from.

Returns

A reference to the assigned ODESystem object.

operator=() [2/2]

ODESystem & ODESystem::operator= ( ODESystem && rhs )

noexcept

Implements the move assignment operator for the ODESystem class.

Parameters

rhs	The source ODESystem object to move from.

Returns

A reference to the assigned ODESystem object.

setEquationParameters()

void ODESystem::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 each arc-length 's'.

Parameters

u_ast_x	A 3-dimensional static Blaze vector of the pre-curvature of the tubes along the 'x' direction in the present segment.
u_ast_y	A 3-dimensional static Blaze vector of the pre-curvature of the tubes along the 'x' direction in the present segment.
EI	A 3-dimensional static Blaze vector of bending stiffness of each one of the tubes in the present segment. If the i-th tube isn't present in the current segment, the i-th entry of EI_i will be zero.
GJ	A 3-dimensional static Blaze vector of torsional stiffness of each one of the tubes in the present segment. If the i-th tube isn't present in the current segment, the i-th entry of GJ_i will be zero.
force	A 3-dimensional static Blaze vector containing the point force acting at the distal-end of the CTR.

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

• ctr_library/include/ODESystem.hpp
• ctr_library/src/ODESystem.cpp