chrono::fea::ChMatrixCorotation< Real > Class Template Reference

Description

template<class Real = double>
class chrono::fea::ChMatrixCorotation< Real >

Perform a corotation (warping) of a K matrix by pre- or post- multiplying it with a C matrix that has 3x3 rotation matrices R as diagonal blocks, so that C*K means:

           [R      ]  [       ]
           [   R   ] *[   K   ]
           [      R]  [       ]

This is often used in FEA codes to rotate a K local stiffness matrix and to obtain a global stiffness matrix. This class provides methods to do either C*K or also C*K*C' , without explicitly building C, for improved performance.

#include <ChMatrixCorotation.h>

Static Public Member Functions

static void ComputeCK (const ChMatrix< Real > &K, const ChMatrix33< Real > &R, const int nblocks, ChMatrix< Real > &CK)
 Perform a corotation (warping) of a K matrix by pre-multiplying it with a C matrix; C has 3x3 rotation matrices R as diagonal blocks. More...
 
static void ComputeKCt (const ChMatrix< Real > &K, const ChMatrix33< Real > &R, const int nblocks, ChMatrix< Real > &KC)
 Perform a corotation (warping) of a K matrix by post-multiplying it with a transposed C matrix; C has 3x3 rotation matrices R as diagonal blocks. More...
 
static void ComputeCK (const ChMatrix< Real > &K, const std::vector< ChMatrix33< Real > * > &R, const int nblocks, ChMatrix< Real > &CK)
 Perform a corotation (warping) of a K matrix by pre-multiplying it with a C matrix; C has 3x3 rotation matrices R as diagonal blocks (generic version with different rotations) More...
 
static void ComputeKCt (const ChMatrix< Real > &K, const std::vector< ChMatrix33< Real > * > &R, const int nblocks, ChMatrix< Real > &KC)
 Perform a corotation (warping) of a K matrix by post-multiplying it with a transposed C matrix; C has 3x3 rotation matrices R as diagonal blocks (generic version with different rotations) More...
 

Member Function Documentation

template<class Real >
void chrono::fea::ChMatrixCorotation< Real >::ComputeCK ( const ChMatrix< Real > &  K,
const ChMatrix33< Real > &  R,
const int  nblocks,
ChMatrix< Real > &  CK 
)
static

Perform a corotation (warping) of a K matrix by pre-multiplying it with a C matrix; C has 3x3 rotation matrices R as diagonal blocks.

Parameters
Kmatrix to pre-corotate
R3x3 rotation matrix
nblocksnumber of rotation blocks
CKresult matrix: C*K
template<class Real >
void chrono::fea::ChMatrixCorotation< Real >::ComputeCK ( const ChMatrix< Real > &  K,
const std::vector< ChMatrix33< Real > * > &  R,
const int  nblocks,
ChMatrix< Real > &  CK 
)
static

Perform a corotation (warping) of a K matrix by pre-multiplying it with a C matrix; C has 3x3 rotation matrices R as diagonal blocks (generic version with different rotations)

generic version

Parameters
Kmatrix to pre-corotate
R3x3 rotation matrices
nblocksnumber of rotation blocks
CKresult matrix: C*K
template<class Real >
void chrono::fea::ChMatrixCorotation< Real >::ComputeKCt ( const ChMatrix< Real > &  K,
const ChMatrix33< Real > &  R,
const int  nblocks,
ChMatrix< Real > &  KC 
)
static

Perform a corotation (warping) of a K matrix by post-multiplying it with a transposed C matrix; C has 3x3 rotation matrices R as diagonal blocks.

Parameters
Kmatrix to post-corotate
R3x3 rotation matrix (will be used transposed)
nblocksnumber of rotation blocks
KCresult matrix: C*K
template<class Real >
void chrono::fea::ChMatrixCorotation< Real >::ComputeKCt ( const ChMatrix< Real > &  K,
const std::vector< ChMatrix33< Real > * > &  R,
const int  nblocks,
ChMatrix< Real > &  KC 
)
static

Perform a corotation (warping) of a K matrix by post-multiplying it with a transposed C matrix; C has 3x3 rotation matrices R as diagonal blocks (generic version with different rotations)

generic version

Parameters
Kmatrix to post-corotate
R3x3 rotation matrices (used transposed)
nblocksnumber of rotation blocks
KCresult matrix: C*K