Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion. More...

#include <CrankNicolson.H>

Inheritance diagram for CrankNicolson:

Collaboration diagram for CrankNicolson:

Public Member Functions
	TypeName ("CrankNicolson")
	Runtime type information.
	CrankNicolson (rigidBodyMotion &body, const dictionary &dict)
	Construct for the given body from dictionary.
virtual	~CrankNicolson ()
	Destructor.
virtual void	solve (const scalarField &tau, const Field< spatialVector > &fx)
	Integrate the rigid-body motion for one time-step.
Public Member Functions inherited from rigidBodySolver
	TypeName ("rigidBodySolver")
	Runtime type information.
	declareRunTimeSelectionTable (autoPtr, rigidBodySolver, dictionary,(rigidBodyMotion &body, const dictionary &dict),(body, dict))
	rigidBodySolver (rigidBodyMotion &body)
virtual	~rigidBodySolver ()
	Destructor.

Additional Inherited Members
Static Public Member Functions inherited from rigidBodySolver
static autoPtr< rigidBodySolver >	New (rigidBodyMotion &body, const dictionary &dict)
Protected Member Functions inherited from rigidBodySolver
rigidBodyModelState &	state ()
	Return the motion state.
scalarField &	q ()
	Return the current joint position and orientation.
scalarField &	qDot ()
	Return the current joint quaternion.
scalarField &	qDdot ()
	Return the current joint acceleration.
scalar	deltaT () const
	Return the current time-step.
const rigidBodyModelState &	state0 () const
	Return the previous motion state.
const scalarField &	q0 () const
	Return the current joint position and orientation.
const scalarField &	qDot0 () const
	Return the current joint quaternion.
const scalarField &	qDdot0 () const
	Return the current joint acceleration.
scalar	deltaT0 () const
	Return the previous time-step.
void	correctQuaternionJoints ()
	Correct the quaternion joints based on the current change in q.
Protected Attributes inherited from rigidBodySolver
rigidBodyMotion &	model_
	The rigid-body model.

Detailed Description

Crank-Nicolson 2nd-order time-integrator for 6DoF solid-body motion.

The off-centering coefficients for acceleration (velocity integration) and velocity (position/orientation integration) may be specified but default values of 0.5 for each are used if they are not specified. With the default off-centering this scheme is equivalent to the Newmark scheme with default coefficients.

Example specification in dynamicMeshDict:

solver
{
    type    CrankNicolson;
    aoc     0.5;    // Acceleration off-centering coefficient
    voc     0.5;    // Velocity off-centering coefficient
}

See also: Foam::RBD::rigidBodySolvers::Newmark

Source files

Definition at line 69 of file CrankNicolson.H.

Constructor & Destructor Documentation

◆ CrankNicolson()

CrankNicolson	(	rigidBodyMotion &	body,
		const dictionary &	dict )

Construct for the given body from dictionary.

Definition at line 42 of file CrankNicolson.C.

References dict, and rigidBodySolver::rigidBodySolver().

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◆ ~CrankNicolson()

~CrankNicolson ( )

virtual

Destructor.

Definition at line 56 of file CrankNicolson.C.

Member Function Documentation

◆ TypeName()

TypeName ( "CrankNicolson" )

Runtime type information.

References dict.

◆ solve()

void solve	(	const scalarField &	tau,
		const Field< spatialVector > &	fx )

virtual

Integrate the rigid-body motion for one time-step.

Implements rigidBodySolver.

Definition at line 62 of file CrankNicolson.C.

References rigidBodySolver::correctQuaternionJoints(), rigidBodySolver::deltaT(), rigidBodySolver::model_, rigidBodySolver::q(), rigidBodySolver::q0(), rigidBodySolver::qDdot(), rigidBodySolver::qDdot0(), rigidBodySolver::qDot(), rigidBodySolver::qDot0(), and rigidBodySolver::state().