DampingMatrixExpression< FP, D > Class Template Reference

CPP API: mio::DampingMatrixExpression< FP, D > Class Template Reference

CPP API

represents the coefficient wise matrix (or vector) expression B - D * M where B is a baseline, M is a minimum and D is some time dependent complex damping factor. More...

#include <contact_matrix.h>

Public Types
using	DampingsType = D

using	Matrix = typename Shape::Matrix

using	Shape = typename DampingsType::Shape

Public Member Functions
template<class... T>
void	add_damping (T &&... t)
	adds a damping. More...

void	clear_dampings ()
	remove all dampings. More...

template<class M >
	DampingMatrixExpression (const Eigen::MatrixBase< M > &baseline)
	construct with only baseline, minimum and dampings is zero. More...

template<class M , class K >
	DampingMatrixExpression (const Eigen::MatrixBase< M > &baseline, const Eigen::MatrixBase< K > &minimum)
	construct with baseline and minimum contacts and zero dampings. More...

template<class... T>
requires std::is_constructible_v< Shape, T... >	DampingMatrixExpression (T... shape_args)
	construct with shape. More...

Matrix &	get_baseline ()

const Matrix &	get_baseline () const
	get the baseline matrix. More...

auto	get_dampings ()

auto	get_dampings () const
	list of dampings. More...

auto	get_matrix_at (SimulationTime< FP > t) const
	Applies dampings to compute the real contact frequency at a point in time. More...

Matrix &	get_minimum ()

const Matrix &	get_minimum () const
	get the minimum matrix. More...

Shape	get_shape () const
	dimensions of the matrix. More...

bool	operator!= (const DampingMatrixExpression &other) const

bool	operator== (const DampingMatrixExpression &other) const
	equality operators. More...

void	remove_damping (size_t i)
	remove a damping. More...

template<class IOContext >
void	serialize (IOContext &io) const
	serialize this. More...

void	set_automatic_cache_update (bool b)
	Enable/disable automatic cache update of the dampings. More...

Static Public Member Functions
template<class IOContext >
static IOResult< DampingMatrixExpression >	deserialize (IOContext &io)
	deserialize an object of this class. More...

Static Protected Member Functions
template<class IOContext , class Derived >
static IOResult< Derived >	deserialize (IOContext &io, Tag< Derived >)
	deserialize an object of a class derived from this. More...

Private Attributes
Matrix	m_baseline

DampingsType	m_dampings

Matrix	m_minimum

Friends
void	PrintTo (const DampingMatrixExpression &self, std::ostream *os)
	gtest printer. More...

Detailed Description

template<typename FP, class D>
class mio::DampingMatrixExpression< FP, D >

represents the coefficient wise matrix (or vector) expression B - D * M where B is a baseline, M is a minimum and D is some time dependent complex damping factor.

Base class for e.g. time dependent contact matrices. Coefficient wise expression, so B, D, M matrices must have the same shape.

See also: Damping; ContactMatrix

Template Parameters

FP	floating point, e.g. double
D	instance of Dampings or compatible type

Member Typedef Documentation

◆ DampingsType

template<typename FP , class D >

using mio::DampingMatrixExpression< FP, D >::DampingsType = D

◆ Matrix

template<typename FP , class D >

using mio::DampingMatrixExpression< FP, D >::Matrix = typename Shape::Matrix

◆ Shape

template<typename FP , class D >

using mio::DampingMatrixExpression< FP, D >::Shape = typename DampingsType::Shape

Constructor & Destructor Documentation

◆ DampingMatrixExpression() [1/3]

template<typename FP , class D >

template<class M , class K >

mio::DampingMatrixExpression< FP, D >::DampingMatrixExpression	(	const Eigen::MatrixBase< M > &	baseline,
		const Eigen::MatrixBase< K > &	minimum
	)

inline

construct with baseline and minimum contacts and zero dampings.

Parameters

baseline	matrix expression
minimum	matrix expression, must be same size as baseline

Template Parameters

M,K	matrix expressions compatible with Matrix type

◆ DampingMatrixExpression() [2/3]

template<typename FP , class D >

template<class M >

mio::DampingMatrixExpression< FP, D >::DampingMatrixExpression ( const Eigen::MatrixBase< M > & baseline )

inlineexplicit

construct with only baseline, minimum and dampings is zero.

Parameters

baseline matrix expression

Template Parameters

M	matrix expressions compatible with Matrix type

◆ DampingMatrixExpression() [3/3]

template<typename FP , class D >

template<class... T>

requires std::is_constructible_v<Shape, T...> mio::DampingMatrixExpression< FP, D >::DampingMatrixExpression ( T... shape_args )

inlineexplicit

construct with shape.

baseline, minimum and dampings all zero.

Parameters

shape_args shape arguments.

Template Parameters

T	shape arguments.

Member Function Documentation

◆ add_damping()

template<typename FP , class D >

template<class... T>

void mio::DampingMatrixExpression< FP, D >::add_damping ( T &&... t )

inline

adds a damping.

See also: Dampings::add

◆ clear_dampings()

template<typename FP , class D >

void mio::DampingMatrixExpression< FP, D >::clear_dampings ( )

inline

remove all dampings.

◆ deserialize() [1/2]

template<typename FP , class D >

template<class IOContext >

static IOResult<DampingMatrixExpression> mio::DampingMatrixExpression< FP, D >::deserialize ( IOContext & io )

inlinestatic

deserialize an object of this class.

See also: mio::deserialize

◆ deserialize() [2/2]

template<typename FP , class D >

template<class IOContext , class Derived >

static IOResult<Derived> mio::DampingMatrixExpression< FP, D >::deserialize	(	IOContext &	io,
		Tag< Derived >
	)

inlinestaticprotected

deserialize an object of a class derived from this.

◆ get_baseline() [1/2]

template<typename FP , class D >

Matrix& mio::DampingMatrixExpression< FP, D >::get_baseline ( )

inline

◆ get_baseline() [2/2]

template<typename FP , class D >

const Matrix& mio::DampingMatrixExpression< FP, D >::get_baseline ( ) const

inline

get the baseline matrix.

◆ get_dampings() [1/2]

template<typename FP , class D >

auto mio::DampingMatrixExpression< FP, D >::get_dampings ( )

inline

◆ get_dampings() [2/2]

template<typename FP , class D >

auto mio::DampingMatrixExpression< FP, D >::get_dampings ( ) const

inline

list of dampings.

◆ get_matrix_at()

template<typename FP , class D >

auto mio::DampingMatrixExpression< FP, D >::get_matrix_at ( SimulationTime< FP > t ) const

inline

Applies dampings to compute the real contact frequency at a point in time.

Uses lazy evaluation, coefficients are calculated on indexed access.

Parameters

t	time in the simulation

Returns: matrix expression (num_groups x num_groups)

◆ get_minimum() [1/2]

template<typename FP , class D >

Matrix& mio::DampingMatrixExpression< FP, D >::get_minimum ( )

inline

◆ get_minimum() [2/2]

template<typename FP , class D >

const Matrix& mio::DampingMatrixExpression< FP, D >::get_minimum ( ) const

inline

get the minimum matrix.

◆ get_shape()

template<typename FP , class D >

Shape mio::DampingMatrixExpression< FP, D >::get_shape ( ) const

inline

dimensions of the matrix.

◆ operator!=()

template<typename FP , class D >

bool mio::DampingMatrixExpression< FP, D >::operator!= ( const DampingMatrixExpression< FP, D > & other ) const

inline

◆ operator==()

template<typename FP , class D >

bool mio::DampingMatrixExpression< FP, D >::operator== ( const DampingMatrixExpression< FP, D > & other ) const

inline

equality operators.

◆ remove_damping()

template<typename FP , class D >

void mio::DampingMatrixExpression< FP, D >::remove_damping ( size_t i )

inline

remove a damping.

Parameters

i	index to remove.

◆ serialize()

template<typename FP , class D >

template<class IOContext >

void mio::DampingMatrixExpression< FP, D >::serialize ( IOContext & io ) const

inline

serialize this.

See also: mio::serialize

◆ set_automatic_cache_update()

template<typename FP , class D >

void mio::DampingMatrixExpression< FP, D >::set_automatic_cache_update ( bool b )

inline

Enable/disable automatic cache update of the dampings.

See also: Dampings::set_automatic_cache_update

Friends And Related Function Documentation

◆ PrintTo

template<typename FP , class D >

void PrintTo	(	const DampingMatrixExpression< FP, D > &	self,
		std::ostream *	os
	)

friend

gtest printer.

Member Data Documentation

◆ m_baseline

template<typename FP , class D >

Matrix mio::DampingMatrixExpression< FP, D >::m_baseline

private

◆ m_dampings

template<typename FP , class D >

DampingsType mio::DampingMatrixExpression< FP, D >::m_dampings

private

◆ m_minimum

template<typename FP , class D >

Matrix mio::DampingMatrixExpression< FP, D >::m_minimum

private

DampingMatrixExpression&lt; FP, D &gt; Class Template Reference

Public Types

Public Member Functions

Static Public Member Functions

Static Protected Member Functions

Private Attributes

Friends

Detailed Description

template<typename FP, class D> class mio::DampingMatrixExpression< FP, D >

Member Typedef Documentation

◆ DampingsType

◆ Matrix

◆ Shape

Constructor & Destructor Documentation

◆ DampingMatrixExpression() [1/3]

◆ DampingMatrixExpression() [2/3]

◆ DampingMatrixExpression() [3/3]

Member Function Documentation

◆ add_damping()

◆ clear_dampings()

◆ deserialize() [1/2]

◆ deserialize() [2/2]

◆ get_baseline() [1/2]

◆ get_baseline() [2/2]

◆ get_dampings() [1/2]

◆ get_dampings() [2/2]

◆ get_matrix_at()

◆ get_minimum() [1/2]

◆ get_minimum() [2/2]

◆ get_shape()

◆ operator!=()

◆ operator==()

◆ remove_damping()

◆ serialize()

◆ set_automatic_cache_update()

Friends And Related Function Documentation

◆ PrintTo

Member Data Documentation

◆ m_baseline

◆ m_dampings

◆ m_minimum

DampingMatrixExpression< FP, D > Class Template Reference

template<typename FP, class D>
class mio::DampingMatrixExpression< FP, D >