Model Class Reference

Kynema API: kynema::Model Class Reference

Kynema API

A flexible multibody structural dynamics code for wind turbines

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Struct to define the connectivity structure of elements, nodes, and constraints defining an Kynema problem. More...

#include <model.hpp>

Public Member Functions
	Model ()=default
	Default constructor.

	Model (std::array< double, 3 > gravity)
	Constructor with gravity specified.

void	SetGravity (double x, double y, double z)
	Sets the gravity components for the model.

NodeBuilder	AddNode ()
	Adds a node to the model.

const Node &	GetNode (size_t id) const
	Returns a node by ID.

Node &	GetNode (size_t id)
	Returns a node by ID.

size_t	NumNodes () const
	Gets the number of nodes present in the model.

const std::vector< Node > &	GetNodes () const
	Returns constant reference to nodes vector.

size_t	AddBeamElement (std::span< const size_t > node_ids, std::span< const BeamSection > sections, std::span< const std::array< double, 2 > > quadrature)
	Adds a beam element to the model.

const BeamElement &	GetBeamElement (size_t id) const
	Returns a beam element by ID.

BeamElement &	GetBeamElement (size_t id)
	Returns a beam element by ID.

const std::vector< BeamElement > &	GetBeamElements () const
	Returns a reference to the beam elements present in the model.

size_t	NumBeamElements () const
	Returns the number of beam elements present in the model.

BeamsInput	CreateBeamsInput () const
	Createsa Beams input file based on the beam elements in the model.

template<typename DeviceType >
Beams< DeviceType >	CreateBeams () const
	Createsa Beams structure based on the beam elements in the model.

void	TranslateBeam (size_t beam_elem_id, const std::array< double, 3 > &displacement)
	Translate all beam nodes by given displacement.

void	RotateBeamAboutPoint (size_t beam_elem_id, const std::array< double, 4 > &displacement_quaternion, const std::array< double, 3 > &point)
	Rotate all beam nodes by given quaternion about a given point.

void	SetBeamVelocityAboutPoint (size_t beam_elem_id, const std::array< double, 6 > &velocity, const std::array< double, 3 > &point)
	Set the translational and rotational velocity of the beam about a given point.

void	SetBeamAccelerationAboutPoint (size_t beam_elem_id, const std::array< double, 6 > &acceleration, const std::array< double, 3 > &omega, const std::array< double, 3 > &point)
	Set the acceleration of the beam about a given point.

size_t	AddMassElement (const size_t node_id, const std::array< std::array< double, 6 >, 6 > &mass)
	Adds a mass element to the model.

const MassElement &	GetMassElement (size_t id) const
	Returns a mass element by ID.

MassElement &	GetMassElement (size_t id)
	Returns a mass element by ID.

const std::vector< MassElement > &	GetMassElements () const
	Returns a reference to the mass elements present in the model.

size_t	NumMassElements () const
	Returns the number of mass elements present in the model.

template<typename DeviceType >
Masses< DeviceType >	CreateMasses () const
	Create a a masses struct based on the mass elements present in the model.

size_t	AddSpringElement (const size_t node1_id, const size_t node2_id, const double stiffness, const double undeformed_length)
	Adds a spring element to the model.

const SpringElement &	GetSpringElement (size_t id) const
	Returns a spring element by ID.

SpringElement &	GetSpringElement (size_t id)
	Returns a spring element by ID.

size_t	NumSpringElements () const
	Returns the number of spring elements present in the model.

template<typename DeviceType >
Springs< DeviceType >	CreateSprings () const
	Creates a Springs struct based on the spring elements in the model.

template<typename DeviceType >
Elements< DeviceType >	CreateElements () const
	Creates an Elements struct with Beams, Masses, and Springs.

template<typename DeviceType >
State< DeviceType >	CreateState () const
	Creates an State struct based on the nodes in this model.

size_t	AddFixedBC (const size_t node_id)
	Adds a fixed boundary condition constraint to the model and returns the ID.

size_t	AddPrescribedBC (const size_t node_id, const std::array< double, 7 > &initial_displacement={0., 0., 0., 1., 0., 0., 0.})
	Adds a prescribed boundary condition constraint to the model and returns the ID.

size_t	AddRigidJointConstraint (const std::array< size_t, 2 > &node_ids)
	Adds a rigid constraint to the model and returns the ID.

size_t	AddRevoluteJointConstraint (const std::array< size_t, 2 > &node_ids, const std::array< double, 3 > &axis, double *torque)
	Adds a revolute/hinge constraint to the model and returns the ID.

size_t	AddRotationControl (const std::array< size_t, 2 > &node_ids, const std::array< double, 3 > &axis, double *control)
	Adds a rotation control constraint to the model and returns the ID.

size_t	AddFixedBC3DOFs (const size_t node_id)
	Adds a fixed boundary condition constraint (6DOFs to 3DOFs) to the model and returns the ID.

size_t	AddPrescribedBC3DOFs (const size_t node_id)
	Adds a prescribed boundary condition constraint (6DOFs to 3DOFs) to the model and returns the ID.

size_t	AddRigidJoint6DOFsTo3DOFs (const std::array< size_t, 2 > &node_ids)
	Adds a rigid joint constraint (6DOFs to 3DOFs) to the model and returns the ID.

size_t	NumConstraints () const
	Returns the number of constraints present in the model.

template<typename DeviceType >
Constraints< DeviceType >	CreateConstraints () const
	Returns a Constraints object initialized from the model constraints.

template<typename DeviceType = Kokkos::Device< Kokkos::DefaultExecutionSpace, Kokkos::DefaultExecutionSpace::memory_space>>
std::tuple< State< DeviceType >, Elements< DeviceType >, Constraints< DeviceType > >	CreateSystem () const
	Returns a State, Elements, and Constraints object initialized from the model.

template<typename DeviceType = Kokkos::Device< Kokkos::DefaultExecutionSpace, Kokkos::DefaultExecutionSpace::memory_space>>
std::tuple< State< DeviceType >, Elements< DeviceType >, Constraints< DeviceType >, Solver< DeviceType > >	CreateSystemWithSolver () const
	Returns a State, Elements, Constraints, and Solver object initialized from the model.

const model::MeshConnectivity &	GetMeshConnectivity () const
	Get the mesh connectivity.

model::MeshConnectivity &	GetMeshConnectivity ()
	Get the mesh connectivity.

void	ExportMeshConnectivityToYAML (const std::string &filename="mesh_connectivity.yaml") const
	Export mesh connectivity to a YAML file.

Static Public Attributes
static constexpr size_t	InvalidNodeID {0U}
	Represents an invalid node in constraints that only uses the target node.

Detailed Description

Struct to define the connectivity structure of elements, nodes, and constraints defining an Kynema problem.

A model is a collection of nodes, elements, and constraints that define the geometry and relationships between components in an Kynema problem. Model also provides methods to consistantly manipulate the nodes associated with a given element (for example, rotating all nodes in a beam) to ease the process of defining problems.

Constructor & Destructor Documentation

◆ Model() [1/2]

kynema::Model::Model ( )

default

Default constructor.

◆ Model() [2/2]

kynema::Model::Model ( std::array< double, 3 > gravity )

inlineexplicit

Constructor with gravity specified.

Parameters

gravity The gravity vector that will be applied during the simulation

Member Function Documentation

◆ AddBeamElement()

size_t kynema::Model::AddBeamElement	(	std::span< const size_t >	node_ids,
		std::span< const BeamSection >	sections,
		std::span< const std::array< double, 2 > >	quadrature
	)

inline

Adds a beam element to the model.

Parameters

node_ids	A list of the node IDs to be contained in the beam
sections	The physical properties defined at each quadrature point
quadrature	The quadrature point locations and weights

Returns: the index of the newly added beam

◆ AddFixedBC()

size_t kynema::Model::AddFixedBC ( const size_t node_id )

inline

Adds a fixed boundary condition constraint to the model and returns the ID.

Parameters

node_id the ID of the node where the constraint is to be added

Returns: The ID of the created constraint

◆ AddFixedBC3DOFs()

size_t kynema::Model::AddFixedBC3DOFs ( const size_t node_id )

inline

Adds a fixed boundary condition constraint (6DOFs to 3DOFs) to the model and returns the ID.

Parameters

node_id The node ID where the constraint will be applied

Returns: the ID of the created constraint

◆ AddMassElement()

size_t kynema::Model::AddMassElement	(	const size_t	node_id,
		const std::array< std::array< double, 6 >, 6 > &	mass
	)

inline

Adds a mass element to the model.

Parameters

node_id	ID of the node where the mass element will be placed
mass	The inertia matrix of the element

Returns: The index of the newly added element

◆ AddNode()

NodeBuilder kynema::Model::AddNode ( )

inline

Adds a node to the model.

Returns: NodeBuilder object wrapping the newly added node

◆ AddPrescribedBC()

size_t kynema::Model::AddPrescribedBC	(	const size_t	node_id,
		const std::array< double, 7 > &	initial_displacement = `{0., 0., 0., 1., 0., 0., 0.}`
	)

inline

Adds a prescribed boundary condition constraint to the model and returns the ID.

Parameters

node_id	the ID of the node where the constraint is to be added
initial_displacement	The displacement of the node to be forced on the node

Returns: the ID of the created constraint

◆ AddPrescribedBC3DOFs()

size_t kynema::Model::AddPrescribedBC3DOFs ( const size_t node_id )

inline

Adds a prescribed boundary condition constraint (6DOFs to 3DOFs) to the model and returns the ID.

Parameters

node_id The node ID where the constraint will be applied

Returns: the ID of the created constraint

◆ AddRevoluteJointConstraint()

size_t kynema::Model::AddRevoluteJointConstraint	(	const std::array< size_t, 2 > &	node_ids,
		const std::array< double, 3 > &	axis,
		double *	torque
	)

inline

Adds a revolute/hinge constraint to the model and returns the ID.

Parameters

node_ids	the IDs of the two nodes to be linked by the constraint
axis	The axis about which the torque force will be applied
torque	A pointer to the location in memory where the torque will be set

Returns: the ID of the created constraint

◆ AddRigidJoint6DOFsTo3DOFs()

size_t kynema::Model::AddRigidJoint6DOFsTo3DOFs ( const std::array< size_t, 2 > & node_ids )

inline

Adds a rigid joint constraint (6DOFs to 3DOFs) to the model and returns the ID.

Parameters

node_ids the IDs of the nodes which will be joined by the constraint

Returns: the ID of the created constraint

◆ AddRigidJointConstraint()

size_t kynema::Model::AddRigidJointConstraint ( const std::array< size_t, 2 > & node_ids )

inline

Adds a rigid constraint to the model and returns the ID.

Parameters

node_ids The IDs of the two nodes to be linked by the constraint

Returns: The ID of the created constraint

◆ AddRotationControl()

size_t kynema::Model::AddRotationControl	(	const std::array< size_t, 2 > &	node_ids,
		const std::array< double, 3 > &	axis,
		double *	control
	)

inline

Adds a rotation control constraint to the model and returns the ID.

Parameters

node_ids	the IDs of the two nodes to be linked by the constraint
axis	The axis about which the torque force will be applied
control	A pointer to the location in memory where the control rotation will be set

Returns: the ID of the created constraint

◆ AddSpringElement()

size_t kynema::Model::AddSpringElement	(	const size_t	node1_id,
		const size_t	node2_id,
		const double	stiffness,
		const double	undeformed_length
	)

inline

Adds a spring element to the model.

Parameters

node1_id	ID of the node at one end of the spring
node2_id	ID of the node at the other end of the spring
stiffness	Stiffness of the spring
undeformed_length	Length of the spring at which the spring force is zero

Returns: the index of the newly added spring

◆ CreateBeams()

template<typename DeviceType >

Beams< DeviceType > kynema::Model::CreateBeams ( ) const

inline

Createsa Beams structure based on the beam elements in the model.

Template Parameters

A	Kokkos Device where the Beams struct will exist

Returns: An initialized Beams struct

◆ CreateBeamsInput()

BeamsInput kynema::Model::CreateBeamsInput ( ) const

inline

Createsa Beams input file based on the beam elements in the model.

Returns: An initialized BeamsInput struct

◆ CreateConstraints()

template<typename DeviceType >

Constraints< DeviceType > kynema::Model::CreateConstraints ( ) const

inline

Returns a Constraints object initialized from the model constraints.

Template Parameters

DeviceType the Kokkos Device where the created constraints will reside

Returns: The constructed Constraints object

◆ CreateElements()

template<typename DeviceType >

Elements< DeviceType > kynema::Model::CreateElements ( ) const

inline

Creates an Elements struct with Beams, Masses, and Springs.

Template Parameters

DeviceType a Kokkos device where the Elements object will reside

Returns: an initialized Elements object

◆ CreateMasses()

template<typename DeviceType >

Masses< DeviceType > kynema::Model::CreateMasses ( ) const

inline

Create a a masses struct based on the mass elements present in the model.

Template Parameters

DeviceType A Kokkos device where the Masses object will reside

Returns: an initialized Masses object

◆ CreateSprings()

template<typename DeviceType >

Springs< DeviceType > kynema::Model::CreateSprings ( ) const

inline

Creates a Springs struct based on the spring elements in the model.

Template Parameters

DeviceType a Kokkos device where the Springs object will reside

Returns: An initialized Springs object

◆ CreateState()

template<typename DeviceType >

State< DeviceType > kynema::Model::CreateState ( ) const

inline

Creates an State struct based on the nodes in this model.

Template Parameters

DeviceType a Kokkos device where the State object will reside

Returns: an initialized State object

◆ CreateSystem()

template<typename DeviceType = Kokkos::Device< Kokkos::DefaultExecutionSpace, Kokkos::DefaultExecutionSpace::memory_space>>

std::tuple< State< DeviceType >, Elements< DeviceType >, Constraints< DeviceType > > kynema::Model::CreateSystem ( ) const

inline

Returns a State, Elements, and Constraints object initialized from the model.

Template Parameters

DeviceType The Kokkos Device where the created objects will reside

Returns: Constructed State, Elements, and Constraints objects

◆ CreateSystemWithSolver()

template<typename DeviceType = Kokkos::Device< Kokkos::DefaultExecutionSpace, Kokkos::DefaultExecutionSpace::memory_space>>

std::tuple< State< DeviceType >, Elements< DeviceType >, Constraints< DeviceType >, Solver< DeviceType > > kynema::Model::CreateSystemWithSolver ( ) const

inline

Returns a State, Elements, Constraints, and Solver object initialized from the model.

Template Parameters

DeviceType The Kokkos Device where the created objects will reside

Returns: Constructed State, Elements, Constraints, and Solver objects

◆ ExportMeshConnectivityToYAML()

void kynema::Model::ExportMeshConnectivityToYAML ( const std::string & filename = "mesh_connectivity.yaml" ) const

inline

Export mesh connectivity to a YAML file.

Parameters

filename The name of the file to which to write the connectivity

◆ GetBeamElement() [1/2]

BeamElement & kynema::Model::GetBeamElement ( size_t id )

inline

Returns a beam element by ID.

Parameters

id	The index of the beam element

Returns: The beam element itself

◆ GetBeamElement() [2/2]

const BeamElement & kynema::Model::GetBeamElement ( size_t id ) const

inline

Returns a beam element by ID.

Parameters

id	The index of the beam element

Returns: The beam element itself

◆ GetBeamElements()

const std::vector< BeamElement > & kynema::Model::GetBeamElements ( ) const

inline

Returns a reference to the beam elements present in the model.

Returns: a reference to the vector containing the beam elements

◆ GetMassElement() [1/2]

MassElement & kynema::Model::GetMassElement ( size_t id )

inline

Returns a mass element by ID.

Parameters

id	ID of desired mass element

Returns: The Mass element

◆ GetMassElement() [2/2]

const MassElement & kynema::Model::GetMassElement ( size_t id ) const

inline

Returns a mass element by ID.

Parameters

id	ID of desired mass element

Returns: The Mass element

◆ GetMassElements()

const std::vector< MassElement > & kynema::Model::GetMassElements ( ) const

inline

Returns a reference to the mass elements present in the model.

Returns: A reference to the vector containing the mass elements

◆ GetMeshConnectivity() [1/2]

model::MeshConnectivity & kynema::Model::GetMeshConnectivity ( )

inline

Get the mesh connectivity.

Returns: A reference to this Model's MeshConnectivity model

◆ GetMeshConnectivity() [2/2]

const model::MeshConnectivity & kynema::Model::GetMeshConnectivity ( ) const

inline

Get the mesh connectivity.

Returns: A reference to this Model's MeshConnectivity model

◆ GetNode() [1/2]

Node & kynema::Model::GetNode ( size_t id )

inline

Returns a node by ID.

Parameters

id	Index number of node

Returns: The desired node

◆ GetNode() [2/2]

const Node & kynema::Model::GetNode ( size_t id ) const

inline

Returns a node by ID.

Parameters

id	Index number of node

Returns: The desired node

◆ GetNodes()

const std::vector< Node > & kynema::Model::GetNodes ( ) const

inline

Returns constant reference to nodes vector.

Returns: A reference to the vector containing all of the nodes in the model

◆ GetSpringElement() [1/2]

SpringElement & kynema::Model::GetSpringElement ( size_t id )

inline

Returns a spring element by ID.

Parameters

id	The ID of the spring

Returns: The requested spring element

◆ GetSpringElement() [2/2]

const SpringElement & kynema::Model::GetSpringElement ( size_t id ) const

inline

Returns a spring element by ID.

Parameters

id	The ID of the spring

Returns: The requested spring element

◆ NumBeamElements()

size_t kynema::Model::NumBeamElements ( ) const

inline

Returns the number of beam elements present in the model.

Returns: the number of beam elements

◆ NumConstraints()

size_t kynema::Model::NumConstraints ( ) const

inline

Returns the number of constraints present in the model.

Returns: the number of constraints

◆ NumMassElements()

size_t kynema::Model::NumMassElements ( ) const

inline

Returns the number of mass elements present in the model.

Returns: The number of mass elements

◆ NumNodes()

size_t kynema::Model::NumNodes ( ) const

inline

Gets the number of nodes present in the model.

Returns: The number of nodes

◆ NumSpringElements()

size_t kynema::Model::NumSpringElements ( ) const

inline

Returns the number of spring elements present in the model.

Returns: the number of springs in the model

◆ RotateBeamAboutPoint()

void kynema::Model::RotateBeamAboutPoint	(	size_t	beam_elem_id,
		const std::array< double, 4 > &	displacement_quaternion,
		const std::array< double, 3 > &	point
	)

inline

Rotate all beam nodes by given quaternion about a given point.

Parameters

beam_elem_id	The index of the beam to be rotated
displacement_quaternion	The displacement quaternion
point	The point around which the beam will be rotated

◆ SetBeamAccelerationAboutPoint()

void kynema::Model::SetBeamAccelerationAboutPoint	(	size_t	beam_elem_id,
		const std::array< double, 6 > &	acceleration,
		const std::array< double, 3 > &	omega,
		const std::array< double, 3 > &	point
	)

inline

Set the acceleration of the beam about a given point.

Parameters

beam_elem_id	The index of the beam
acceleration	The acceleration of the beam
omega	The rotational acceleration of the beam
point	The point about which the rotational velocity is based

◆ SetBeamVelocityAboutPoint()

void kynema::Model::SetBeamVelocityAboutPoint	(	size_t	beam_elem_id,
		const std::array< double, 6 > &	velocity,
		const std::array< double, 3 > &	point
	)

inline

Set the translational and rotational velocity of the beam about a given point.

Parameters

beam_elem_id	The index of the beam
velocity	The velocity of the beam
point	The point about which the rotational velocity is based

◆ SetGravity()

void kynema::Model::SetGravity	(	double	x,
		double	y,
		double	z
	)

inline

Sets the gravity components for the model.

Parameters

x	X gravity component
y	Y gravity component
z	Z gravity component

◆ TranslateBeam()

void kynema::Model::TranslateBeam	(	size_t	beam_elem_id,
		const std::array< double, 3 > &	displacement
	)

inline

Translate all beam nodes by given displacement.

Parameters

beam_elem_id	The index of the beam to be translated
displacement	The displacement vector

Member Data Documentation

◆ InvalidNodeID

constexpr size_t kynema::Model::InvalidNodeID {0U}

staticconstexpr

Represents an invalid node in constraints that only uses the target node.

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

/home/runner/work/kynema/kynema/kynema/src/model/model.hpp

Model Class Reference

Public Member Functions

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Model() [1/2]

◆ Model() [2/2]

Member Function Documentation

◆ AddBeamElement()

◆ AddFixedBC()

◆ AddFixedBC3DOFs()

◆ AddMassElement()

◆ AddNode()

◆ AddPrescribedBC()

◆ AddPrescribedBC3DOFs()

◆ AddRevoluteJointConstraint()

◆ AddRigidJoint6DOFsTo3DOFs()

◆ AddRigidJointConstraint()

◆ AddRotationControl()

◆ AddSpringElement()

◆ CreateBeams()

◆ CreateBeamsInput()

◆ CreateConstraints()

◆ CreateElements()

◆ CreateMasses()

◆ CreateSprings()

◆ CreateState()

◆ CreateSystem()

◆ CreateSystemWithSolver()

◆ ExportMeshConnectivityToYAML()

◆ GetBeamElement() [1/2]

◆ GetBeamElement() [2/2]

◆ GetBeamElements()

◆ GetMassElement() [1/2]

◆ GetMassElement() [2/2]

◆ GetMassElements()

◆ GetMeshConnectivity() [1/2]

◆ GetMeshConnectivity() [2/2]

◆ GetNode() [1/2]

◆ GetNode() [2/2]

◆ GetNodes()

◆ GetSpringElement() [1/2]

◆ GetSpringElement() [2/2]

◆ NumBeamElements()

◆ NumConstraints()

◆ NumMassElements()

◆ NumNodes()

◆ NumSpringElements()

◆ RotateBeamAboutPoint()

◆ SetBeamAccelerationAboutPoint()

◆ SetBeamVelocityAboutPoint()

◆ SetGravity()

◆ TranslateBeam()

Member Data Documentation

◆ InvalidNodeID