StructTimeStepInfo¶
- class sharpy.utils.datastructures.StructTimeStepInfo(num_node, num_elem, num_node_elem=3, num_dof=None, num_bodies=1)[source]¶
Structural Time Step Class.
Contains the relevant attributes for the structural description of a single time step.
- in_global_AFoR¶
True
if the variables are stored in the global A FoR.False'' if they are stored in the local A FoR of each body. Always ``True
for single-body simulations- Type
bool
- num_node¶
Number of nodes
- Type
int
- num_elem¶
Number of elements
- Type
int
- num_node_elem¶
Number of nodes per element
- Type
int
- pos¶
Displacements.
[num_node x 3]
containing the vector ofx
,y
andz
coordinates (inA
frame) of the beam nodes.- Type
np.ndarray
- pos_dot¶
Velocities. Time derivative of
pos
.- Type
np.ndarray
- pos_ddot¶
Accelerations. Time derivative of
pos_dot
- Type
np.ndarray
- psi¶
Cartesian Rotation Vector.
[num_elem x num_node_elem x 3]
CRV for each node in each element.- Type
np.ndarray
- psi_dot¶
Time derivative of
psi
.- Type
np.ndarray
- psi_ddot¶
Time derivative of
psi_dot
.- Type
np.ndarray
- quat¶
Quaternion expressing the transformation between the
A
andG
frames.- Type
np.ndarray
- for_pos¶
A
frame of reference position (with respect to the G` frame of reference).- Type
np.ndarray
- for_vel¶
A
frame of reference velocity. Expressed in A FoR- Type
np.ndarray
- for_acc¶
A
frame of reference acceleration. Expressed in A FoR- Type
np.ndarray
- steady_applied_forces¶
Forces applied to the structure not associated to time derivatives
[num_nodes x 6]
. Expressed in B FoR- Type
np.ndarray
- unsteady_applied_forces¶
Forces applied to the structure associated to time derivatives
[num_node x 6]
. Expressed in B FoR- Type
np.ndarray
- runtime_generated_forces¶
Forces generated at runtime through runtime generators
[num_node x 6]
. Expressed in B FoR- Type
np.ndarray
- gravity_forces¶
Gravity forces at nodes
[num_node x 6]
. Expressed in A FoR- Type
np.ndarray
- total_gravity_forces¶
Total gravity forces on the structure
[6]
. Expressed in A FoR- Type
np.ndarray
- total_forces¶
Total forces applied to the structure
[6]
. Expressed in A FoR- Type
np.ndarray
- q¶
State vector associated to the structural system of equations
[num_dof + 10]
- Type
np.ndarray
- dqdt¶
Time derivative of
q
- Type
np.ndarray
- dqddt¶
Time derivative of
dqdt
- Type
np.ndarray
- postproc_cell¶
Variables associated to cells to be postprocessed
- Type
dict
- postproc_node¶
Variables associated to nodes to be postprocessed
- Type
dict
- mb_FoR_pos¶
Position of the local A FoR of each body
[num_bodies x 6]
- Type
np.ndarray
- mb_FoR_vel¶
Velocity of the local A FoR of each body
[num_bodies x 6]
- Type
np.ndarray
- mb_FoR_acc¶
Acceleration of the local A FoR of each body
[num_bodies x 6]
- Type
np.ndarray
- mb_quat¶
Quaternion of the local A FoR of each body
[num_bodies x 4]
- Type
np.ndarray
- mb_dquatdt¶
Time derivative of
mb_quat
- Type
np.ndarray
- forces_constraints_nodes¶
Forces associated to Lagrange Constraints on nodes
[num_node x 6]
- Type
np.ndarray
- forces_constraints_FoR¶
Forces associated to Lagrange Contraints on frames of reference
[num_bodies x 10]
- Type
np.ndarray
- mb_dict¶
Dictionary with the multibody information. It comes from the file
case.mb.h5
- Type
np.ndarray
- change_to_global_AFoR(for0_pos, for0_vel, quat0)[source]¶
Reference a
StructTimeStepInfo
to the global A frame of reference- Parameters
for0_pos (np.ndarray) – Position of the global A FoR
for0_vel (np.ndarray) – Velocity of the global A FoR
quat0 (np.ndarray) – Quaternion of the global A FoR
- change_to_local_AFoR(for0_pos, for0_vel, quat0)[source]¶
Reference a
StructTimeStepInfo
to the local A frame of reference- Parameters
for0_pos (np.ndarray) – Position of the global A FoR
for0_vel (np.ndarray) – Velocity of the global A FoR
quat0 (np.ndarray) – Quaternion of the global A FoR
- copy()[source]¶
Returns a copy of a deepcopy of a
StructTimeStepInfo
- euler_angles()[source]¶
Returns the 3 Euler angles (roll, pitch, yaw) for a given time step.
- Returns
np.array (roll, pitch, yaw) in radians.
- get_body(beam, num_dof_ibody, ibody)[source]¶
Extract the body number
ibody
from a multibody systemThis function returns a
StructTimeStepInfo
class (ibody_StructTimeStepInfo
) that only includes the body numberibody
of the original multibody systemself
- Parameters
beam (
Beam
) – beam information of the multibody systemnum_dof_ibody (int) – Number of degrees of freedom associated to the
ibody
ibody (int) – body number to be extracted
- Returns
timestep information of the isolated body
- Return type
- whole_structure_to_global_AFoR(beam)[source]¶
Same as change_to_global_AFoR but for a multibody structure
- Parameters
beam (sharpy.structure.models.beam.Beam) – Beam structure of
PreSharpy
- whole_structure_to_local_AFoR(beam)[source]¶
Same as change_to_local_AFoR but for a multibody structure
- Parameters
beam (sharpy.structure.models.beam.Beam) – Beam structure of
PreSharpy