kynema::Node Struct Reference

Represents a node in the finite element model. More...

#include <node.hpp>

Public Member Functions
	Node (size_t node_id)
	Construct a node with an ID.
	Node (size_t node_id, std::array< double, 7 > position, std::array< double, 7 > displacement=std::array< double, 7 >{0., 0., 0., 1., 0., 0., 0.}, std::array< double, 6 > velocity=std::array< double, 6 >{0., 0., 0., 0., 0., 0.}, std::array< double, 6 > acceleration=std::array< double, 6 >{0., 0., 0., 0., 0., 0.})
	Construct a node with an ID, position, displacement, velocity, and acceleration vectors.
std::array< double, 7 >	DisplacedPosition () const
Node &	Translate (const std::array< double, 3 > &displacement)
	Translate node by a displacement vector.
Node &	RotateAboutPoint (const std::array< double, 4 > &q, const std::array< double, 3 > &point)
	Rotate node by a quaternion about the given point.
Node &	RotateAboutPoint (const std::array< double, 3 > &rv, const std::array< double, 3 > &point)
	Rotate node by a rotation vector about the given point.
Node &	TranslateDisplacement (const std::array< double, 3 > &displacement)
	Add translational displacement to node displacement vector.
Node &	RotateDisplacementAboutPoint (const std::array< double, 4 > &q, const std::array< double, 3 > &point)
	Rotate node displacement by a quaternion about the given point.
Node &	RotateDisplacementAboutPoint (const std::array< double, 3 > &rv, const std::array< double, 3 > &point)
	Rotate node displacement by a rotation vector about the given point.
void	SetVelocityAboutPoint (const std::array< double, 6 > &velocity, const std::array< double, 3 > &point)
	Set node velocity based on rigid body motion about a reference point.
void	SetAccelerationAboutPoint (const std::array< double, 6 > &acceleration, const std::array< double, 3 > &omega, const std::array< double, 3 > &point)
	Set node acceleration based on rigid body motion about a reference point.

Public Attributes
size_t	id
std::array< double, 7 >	x0
std::array< double, 7 >	u
std::array< double, 6 >	v
std::array< double, 6 >	vd
double	s

Detailed Description

Represents a node in the finite element model.

A node is a point in 3D space that can have position, orientation, displacement, velocity, and acceleration. Nodes are the fundamental building blocks that connect elements in the structural model. Each node has:

• Unique identifier (id) -> used to reference the node in elements and constraints
• Initial position and orientation (x0) -> 7 x 1 vector
• Displacement from initial position (u) -> 7 x 1 vector
• Velocity (v) -> 6 x 1 vector
• Acceleration (vd) -> 6 x 1 vector
• Parametric position within an element (s) -> scalar

The position and displacement vectors contain 7 components: [x, y, z, qw, qx, qy, qz] where the first 3 are translational and the last 4 represent orientation as a quaternion.

The velocity and acceleration vectors contain 6 components: [vx, vy, vz, wx, wy, wz] where the first 3 are translational and the last 3 are rotational components.

Constructor & Destructor Documentation

Node() [1/2]

kynema::Node::Node ( size_t  node_id )

inlineexplicit

Construct a node with an ID.

Node() [2/2]

kynema::Node::Node ( size_t  node_id, std::array< double, 7 >  position, std::array< double, 7 >  displacement = std::array<double, 7>{0., 0., 0., 1., 0., 0., 0.}, std::array< double, 6 >  velocity = std::array<double, 6>{0., 0., 0., 0., 0., 0.}, std::array< double, 6 >  acceleration = std::array<double, 6>{0., 0., 0., 0., 0., 0.}  )

inline

Construct a node with an ID, position, displacement, velocity, and acceleration vectors.

Member Function Documentation

DisplacedPosition()

std::array< double, 7 > kynema::Node::DisplacedPosition ( ) const

inline

RotateAboutPoint() [1/2]

Node & kynema::Node::RotateAboutPoint ( const std::array< double, 3 > &  rv, const std::array< double, 3 > &  point  )

inline

Rotate node by a rotation vector about the given point.

RotateAboutPoint() [2/2]

Node & kynema::Node::RotateAboutPoint ( const std::array< double, 4 > &  q, const std::array< double, 3 > &  point  )

inline

Rotate node by a quaternion about the given point.

RotateDisplacementAboutPoint() [1/2]

Node & kynema::Node::RotateDisplacementAboutPoint ( const std::array< double, 3 > &  rv, const std::array< double, 3 > &  point  )

inline

Rotate node displacement by a rotation vector about the given point.

RotateDisplacementAboutPoint() [2/2]

Node & kynema::Node::RotateDisplacementAboutPoint ( const std::array< double, 4 > &  q, const std::array< double, 3 > &  point  )

inline

Rotate node displacement by a quaternion about the given point.

SetAccelerationAboutPoint()

void kynema::Node::SetAccelerationAboutPoint ( const std::array< double, 6 > &  acceleration, const std::array< double, 3 > &  omega, const std::array< double, 3 > &  point  )

inline

Set node acceleration based on rigid body motion about a reference point.

SetVelocityAboutPoint()

void kynema::Node::SetVelocityAboutPoint ( const std::array< double, 6 > &  velocity, const std::array< double, 3 > &  point  )

inline

Set node velocity based on rigid body motion about a reference point.

Translate()

Node & kynema::Node::Translate ( const std::array< double, 3 > &  displacement )

inline

Translate node by a displacement vector.

TranslateDisplacement()

Node & kynema::Node::TranslateDisplacement ( const std::array< double, 3 > &  displacement )

inline

Add translational displacement to node displacement vector.

Member Data Documentation

id

size_t kynema::Node::id

s

double kynema::Node::s

u

std::array<double, 7> kynema::Node::u

v

std::array<double, 6> kynema::Node::v

vd

std::array<double, 6> kynema::Node::vd

x0

std::array<double, 7> kynema::Node::x0

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

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