Represents a tube in the concentric arrangement comprising the CTR robot. More...

#include <Tube.hpp>

Collaboration diagram for Tube:

Public Member Functions
	Tube ()
	Implements the default constructor for the Tube class.

	Tube (double OD, double ID, double E, double G, double ls, double lc, const blaze::StaticVector< double, 3UL > &u_ast)
	Implements the overloaded constructor for the Tube class.

	~Tube ()=default
	Destroys the Tube object.

	Tube (const Tube &rhs)
	Implements the copy constructor for the Tube class.

	Tube (Tube &&rhs) noexcept
	Implements the move constructor for the Tube class.

Tube &	operator= (const Tube &rhs)
	Implements the copy assignment operator for the Tube class.

Tube &	operator= (Tube &&rhs) noexcept
	Implements the move assignment operator for the Tube class.

std::tuple< double, double, double, double, double, blaze::StaticVector< double, 3UL > >	getTubeParameters ()
	Implements getter method for retrieving the tube's kinematic parameters.

void	setYoungModulus (double E)
	Implements a setter method for setting the Young's modulus of the Tube object.

void	setShearModulus (double G)
	Implements a setter method for setting the Shear modulus of the Tube object.

double	getTubeLength ()
	Implements a getter method for retrieving the tube length.

blaze::StaticVector< double, 3UL >	get_u_ast ()
	Implements a getter method for retrieving the pre-curvature of the Tube object.

double	get_u_ast (const size_t id)
	Implements a getter method for retrieving the pre-curvature of the Tube object along a specific direction.

void	set_u_ast (const blaze::StaticVector< double, 3UL > &u_ast)
	Implements a setter method for updating the pre-curvature of the Tube object.

void	set_u_ast (const size_t id, const double u)
	Implements a setter method for updating the pre-curvature of the Tube object along a specific direction.

double	getStraightLen ()
	Implements a getter method for retrieving the length of the straight tranmission of the Tube object.

double	getCurvLen ()
	Implements a getter method for retrieving the length of the curved segment of the Tube object.

void	setStraightLen (double ls)
	Implements a setter method for updating the length of the straight tranmission of the Tube object.

void	setCurvLen (double lc)
	Implements a setter method for updating the length of the curved segment of the Tube object.

blaze::DiagonalMatrix< blaze::StaticMatrix< double, 3UL, 3UL, blaze::rowMajor > >	getK_Matrix ()
	Implements a getter method for retrieving the bending stiffness matrix for the Tube object.

double	getK (int i)
	Implements a getter method for retrieving the bending/torsional stiffness of the Tube along a specific direction.

void	setK (const double EI, const double GJ)
	Implements a setter method for updating the bending & torional stiffness of the Tube.

void	setBendingK (const double EI)
	Implements a setter method for updating the bending stiffness of the Tube.

Private Attributes
double	m_OD
	Outer diameter of the tube.

double	m_ID
	Inner diameter of the tube.

double	m_E
	Young's modulus of the tube material.

double	m_I
	Second moment of area of the tube cross-section.

double	m_G
	Shear modulus of the tube material.

double	m_J
	Polar moment of inertia of the tube cross-section.

blaze::DiagonalMatrix< blaze::StaticMatrix< double, 3UL, 3UL, blaze::rowMajor > >	m_K
	Stiffness matrix of the tube.

double	m_ls
	Length of the straight segment of the tube.

double	m_lc
	Length of the curved segment of the tube.

blaze::StaticVector< double, 3UL >	m_u_ast
	Pre-curvature vector of the tube.

Static Private Attributes
static constexpr double	pi_64 = M_PI / 64.00
	Pi constant divided by 64.

static constexpr double	pi_32 = M_PI / 32.00
	Pi constant divided by 32.

Detailed Description

Represents a tube in the concentric arrangement comprising the CTR robot.

Constructor & Destructor Documentation

◆ Tube() [1/3]

Tube::Tube	(	double	OD,
		double	ID,
		double	E,
		double	G,
		double	ls,
		double	lc,
		const blaze::StaticVector< double, 3UL > &	u_ast )

Implements the overloaded constructor for the Tube class.

Parameters

OD	The outer diameter of the tube.
ID	The inner diameter of the tube.
E	The Young's modulus of the tube material.
G	The Shear modulus of the tube material
ls	The length of the straight transmission of the tube
lc	The length of the curved segment of the tube
u_ast	A 3-dimensional static Blaze vector of the pre-curvature of the tube

◆ Tube() [2/3]

Tube::Tube ( const Tube & rhs )

Implements the copy constructor for the Tube class.

Parameters

rhs	The source Tube object to copy from.

◆ Tube() [3/3]

Tube::Tube ( Tube && rhs )

noexcept

Implements the move constructor for the Tube class.

Parameters

rhs	The source Tube object to move from.

Member Function Documentation

◆ get_u_ast() [1/2]

blaze::StaticVector< double, 3UL > Tube::get_u_ast ( )

Implements a getter method for retrieving the pre-curvature of the Tube object.

Returns: A 3-dimensional static Blaze vector with the pre-curvature of the tube

◆ get_u_ast() [2/2]

double Tube::get_u_ast ( const size_t id )

Implements a getter method for retrieving the pre-curvature of the Tube object along a specific direction.

Returns: A scalar with the pre-curvature of the tube along the 'x' or 'y' directions

◆ getCurvLen()

double Tube::getCurvLen ( )

Implements a getter method for retrieving the length of the curved segment of the Tube object.

Returns: A scalar with the length of the curved segment of the tube in meters

◆ getK()

double Tube::getK ( int i )

Implements a getter method for retrieving the bending/torsional stiffness of the Tube along a specific direction.

Parameters

i	size_t index of the direction: 0: 'x', 1: 'y', 2: 'z'

◆ getK_Matrix()

blaze::DiagonalMatrix< blaze::StaticMatrix< double, 3UL, 3UL, blaze::rowMajor > > Tube::getK_Matrix ( )

Implements a getter method for retrieving the bending stiffness matrix for the Tube object.

Returns: A 3x3 static diagonal Blaze matrix witht the bending stiffness of the Tube object

◆ getStraightLen()

double Tube::getStraightLen ( )

Implements a getter method for retrieving the length of the straight tranmission of the Tube object.

Returns: A scalar with the length of the straight segment of the tube in meters

◆ getTubeLength()

double Tube::getTubeLength ( )

Implements a getter method for retrieving the tube length.

Returns: The overall tube length in meters (straight + curved sections)

◆ getTubeParameters()

std::tuple< double, double, double, double, double, blaze::StaticVector< double, 3UL > > Tube::getTubeParameters ( )

Implements getter method for retrieving the tube's kinematic parameters.

Returns: A tuple containing the parameters [OD, ID, E, G, ls, lc, ||u_ast||] .

◆ operator=() [1/2]

Tube & Tube::operator= ( const Tube & rhs )

Implements the copy assignment operator for the Tube class.

Parameters

rhs	The source Tube object to copy from.

Returns: A reference to the assigned Tube object.

◆ operator=() [2/2]

Tube & Tube::operator= ( Tube && rhs )

noexcept

Implements the move assignment operator for the Tube class.

Parameters

rhs	The source Tube object to move from.

Returns: A reference to the assigned Tube object.

◆ set_u_ast() [1/2]

void Tube::set_u_ast ( const blaze::StaticVector< double, 3UL > & u_ast )

Implements a setter method for updating the pre-curvature of the Tube object.

Parameters

u_ast 3-dimensional static Blaze vector with the new pre-curvature of the tube

◆ set_u_ast() [2/2]

void Tube::set_u_ast	(	const size_t	id,
		const double	u )

Implements a setter method for updating the pre-curvature of the Tube object along a specific direction.

Parameters

id	A size_t index of the direction 0: 'x', 1: 'y'
u	scalar with the pre-curvature of the tube along the 'x' or 'y' directions, as determined by id

◆ setBendingK()

void Tube::setBendingK ( const double EI )

Implements a setter method for updating the bending stiffness of the Tube.

Parameters

EI	The new bending stiffness along the 'x' and 'y' directions

◆ setCurvLen()

void Tube::setCurvLen ( double lc )

Implements a setter method for updating the length of the curved segment of the Tube object.

Parameters

lc	scalar with the length of the curved segment of the tube in meters

◆ setK()

void Tube::setK	(	const double	EI,
		const double	GJ )

Implements a setter method for updating the bending & torional stiffness of the Tube.

Parameters

EI	The new bending stiffness along the 'x' and 'y' directions
GJ	The new torsional stiffness along the 'z' direction

◆ setShearModulus()

void Tube::setShearModulus ( double G )

Implements a setter method for setting the Shear modulus of the Tube object.

Parameters

G	The numerical value of the new Shear modulus of the Tube's material

◆ setStraightLen()

void Tube::setStraightLen ( double ls )

Implements a setter method for updating the length of the straight tranmission of the Tube object.

Parameters

ls	scalar with the new length of the straight segment of the tube in meters

◆ setYoungModulus()

void Tube::setYoungModulus ( double E )

Implements a setter method for setting the Young's modulus of the Tube object.

Parameters

E	The numerical value of the new Young's modulus of the Tube's material

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

ctr_library/include/Tube.hpp
ctr_library/src/Tube.cpp

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Tube() [1/3]

◆ Tube() [2/3]

◆ Tube() [3/3]

Member Function Documentation

◆ get_u_ast() [1/2]

◆ get_u_ast() [2/2]

◆ getCurvLen()

◆ getK()

◆ getK_Matrix()

◆ getStraightLen()

◆ getTubeLength()

◆ getTubeParameters()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_u_ast() [1/2]

◆ set_u_ast() [2/2]

◆ setBendingK()

◆ setCurvLen()

◆ setK()

◆ setShearModulus()

◆ setStraightLen()

◆ setYoungModulus()