def disp2state(MB_beam, MB_tstep, q, dqdt, dqddt):
"""
disp2state
Fills the vector of states according to the displacements information
Longer description
Args:
MB_beam (list of beam): each entry represents a body
MB_tstep (list of StructTimeStepInfo): each entry represents a body
q(numpy array): Vector of states
dqdt(numpy array): Time derivatives of states
dqddt(numpy array): Second time derivatives of states
Returns:
Examples:
Notes:
"""
first_dof = 0
for ibody in range(len(MB_beam)):
ibody_num_dof = MB_beam[ibody].num_dof.value
if (MB_beam[ibody].FoR_movement == 'prescribed'):
xbeamlib.cbeam3_solv_disp2state(MB_beam[ibody], MB_tstep[ibody])
q[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].q[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
dqdt[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].dqdt[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
dqddt[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].dqddt[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
first_dof += ibody_num_dof
elif (MB_beam[ibody].FoR_movement == 'free'):
xbeamlib.xbeam_solv_disp2state(MB_beam[ibody], MB_tstep[ibody])
q[first_dof:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].q.astype(dtype=ct.c_double,
order='F',
copy=True)
dqdt[first_dof:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].dqdt.astype(dtype=ct.c_double,
order='F',
copy=True)
dqddt[first_dof:first_dof + ibody_num_dof +
6] = MB_tstep[ibody].dqddt[:-4].astype(dtype=ct.c_double,
order='F',
copy=True)
dqddt[first_dof + ibody_num_dof + 6:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].mb_dqddt_quat[ibody, :].astype(
dtype=ct.c_double, order='F', copy=True)
first_dof += ibody_num_dof + 10
def disp_and_accel2state(MB_beam, MB_tstep, q, dqdt, dqddt):
"""
disp2state
Fills the vector of states according to the displacements information
Args:
MB_beam (list(:class:`~sharpy.structure.models.beam.Beam`)): each entry represents a body
MB_tstep (list(:class:`~sharpy.utils.datastructures.StructTimeStepInfo`)): each entry represents a body
q(np.ndarray): Vector of states
dqdt(np.ndarray): Time derivatives of states
dqddt(np.ndarray): Second time derivatives of states
"""
first_dof = 0
for ibody in range(len(MB_beam)):
ibody_num_dof = MB_beam[ibody].num_dof.value
if (MB_beam[ibody].FoR_movement == 'prescribed'):
xbeamlib.cbeam3_solv_disp2state(MB_beam[ibody], MB_tstep[ibody])
xbeamlib.cbeam3_solv_accel2state(MB_beam[ibody], MB_tstep[ibody])
q[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].q[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
dqdt[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].dqdt[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
dqddt[first_dof:first_dof +
ibody_num_dof] = MB_tstep[ibody].dqddt[:-10].astype(
dtype=ct.c_double, order='F', copy=True)
first_dof += ibody_num_dof
elif (MB_beam[ibody].FoR_movement == 'free'):
dquatdt = MB_tstep[ibody].mb_dquatdt[ibody, :].astype(
dtype=ct.c_double, order='F', copy=True)
xbeamlib.xbeam_solv_disp2state(MB_beam[ibody], MB_tstep[ibody])
xbeamlib.xbeam_solv_accel2state(MB_beam[ibody], MB_tstep[ibody])
q[first_dof:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].q.astype(dtype=ct.c_double,
order='F',
copy=True)
dqdt[first_dof:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].dqdt.astype(dtype=ct.c_double,
order='F',
copy=True)
dqddt[first_dof:first_dof + ibody_num_dof +
10] = MB_tstep[ibody].dqddt.astype(dtype=ct.c_double,
order='F',
copy=True)
# dqddt[first_dof+ibody_num_dof+6:first_dof+ibody_num_dof+10]=MB_tstep[ibody].mb_dqddt_quat[ibody,:].astype(dtype=ct.c_double, order='F', copy=True)
dqddt[first_dof + ibody_num_dof + 6:first_dof + ibody_num_dof +
10] = dquatdt.astype(dtype=ct.c_double, order='F', copy=True)
first_dof += ibody_num_dof + 10
def initialise(self, data, custom_settings=None):
self.data = data
if custom_settings is None:
self.settings = data.settings[self.solver_id]
else:
self.settings = custom_settings
settings.to_custom_types(self.settings, self.settings_types,
self.settings_default)
# load info from dyn dictionary
self.data.structure.add_unsteady_information(
self.data.structure.dyn_dict, self.settings['num_steps'].value)
# generate q, dqdt and dqddt
xbeamlib.xbeam_solv_disp2state(self.data.structure,
self.data.structure.timestep_info[-1])
def initialise(self, data, custom_settings=None):
self.data = data
if custom_settings is None:
self.settings = data.settings[self.solver_id]
else:
self.settings = custom_settings
settings.to_custom_types(self.settings, self.settings_types, self.settings_default)
# load info from dyn dictionary
self.data.structure.add_unsteady_information(self.data.structure.dyn_dict, self.settings['num_steps'].value)
# add initial speed to RBM
if self.settings['initial_velocity']:
new_direction = np.dot(self.data.structure.timestep_info[-1].cag(),
self.settings['initial_velocity_direction'])
self.data.structure.timestep_info[-1].for_vel[0:3] = new_direction*self.settings['initial_velocity']
# generate q, dqdt and dqddt
xbeamlib.xbeam_solv_disp2state(self.data.structure, self.data.structure.timestep_info[-1])
def create_q_vector(self, tstep=None):
import sharpy.structure.utils.xbeamlib as xb
if tstep is None:
tstep = self.data.structure.timestep_info[-1]
xb.xbeam_solv_disp2state(self.data.structure, tstep)