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Refresh the API #202

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merged 6 commits into from
May 6, 2024
Merged

Refresh the API #202

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9068b86
Extended the API to can get more information about the system
sanguinariojoe Apr 2, 2024
7003b8f
Better storing the initial state ASAP
sanguinariojoe Apr 3, 2024
493aa52
SeaBed -> Seabed
sanguinariojoe Apr 3, 2024
06d79ba
Updated the Python wrapper
sanguinariojoe Apr 3, 2024
e7c14b5
Updated the Matlab wrapper (not tested)
sanguinariojoe Apr 3, 2024
a4c76a9
Updated the Fortran wrapper (Compiled, but not tested)
sanguinariojoe Apr 3, 2024
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74 changes: 62 additions & 12 deletions source/Body.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,30 +67,28 @@ Body::setup(int number_in,
type = type_in;
outfile = outfile_pointer.get(); // make outfile point to the right place

// We better store the body initial position in all cases so the state is
// correctly initialized, and MoorDyn_GetBodyState() would be successfully
// used before calling MoorDyn_Init()
body_r6.head<3>() = r6_in.head<3>();
body_r6.tail<3>() = deg2rad * r6_in.tail<3>();

if (type == FREE) {
bodyM = M_in;
bodyV = V_in;

body_r6.head<3>() = r6_in.head<3>();
body_r6.tail<3>() = deg2rad * r6_in.tail<3>();
body_rCG = rCG_in;
bodyI = I_in;
bodyCdA = CdA_in;
bodyCa = Ca_in;
} else if (type == FIXED){ // fixed bodies have no need for these variables other than position...
bodyM = 0.0;
bodyV = 0.0;
body_r6.head<3>() = r6_in.head<3>();
body_r6.tail<3>() = deg2rad * r6_in.tail<3>();
bodyI = vec::Zero();
bodyCdA = vec6::Zero();
bodyCa = vec6::Zero();
} else if (type == CPLDPIN){
bodyM = M_in;
bodyV = V_in;

body_r6.head<3>() = vec3::Zero();
body_r6.tail<3>() = deg2rad * r6_in.tail<3>();
body_rCG = rCG_in;
bodyI = I_in;
bodyCdA = CdA_in;
Expand All @@ -99,8 +97,6 @@ Body::setup(int number_in,
{
bodyM = 0.0;
bodyV = 0.0;

body_r6 = vec6::Zero();
body_rCG = vec::Zero();
bodyI = vec::Zero();
bodyCdA = vec6::Zero();
Expand Down Expand Up @@ -511,8 +507,8 @@ Body::getStateDeriv()
return std::make_pair(dPos, a6);
};

vec6
Body::getFnet()
const vec6
Body::getFnet() const
{
vec6 F6_iner = vec6::Zero();
vec6 Fnet_out = vec6::Zero();
Expand Down Expand Up @@ -831,6 +827,60 @@ MoorDyn_GetBodyState(MoorDynBody b, double r[6], double rd[6])
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyPos(MoorDynBody b, double r[3])
{
CHECK_BODY(b);
moordyn::vec pos = ((moordyn::Body*)b)->getPosition();
moordyn::vec2array(pos, r);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyAngle(MoorDynBody b, double r[3])
{
CHECK_BODY(b);
moordyn::vec pos = ((moordyn::Body*)b)->getAngles();
moordyn::vec2array(pos, r);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyVel(MoorDynBody b, double rd[3])
{
CHECK_BODY(b);
moordyn::vec vel = ((moordyn::Body*)b)->getVelocity();
moordyn::vec2array(vel, rd);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyAngVel(MoorDynBody b, double rd[3])
{
CHECK_BODY(b);
moordyn::vec vel = ((moordyn::Body*)b)->getAngularVelocity();
moordyn::vec2array(vel, rd);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyForce(MoorDynBody b, double f[6])
{
CHECK_BODY(b);
moordyn::vec6 force = ((moordyn::Body*)b)->getFnet();
moordyn::vec62array(force, f);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_GetBodyM(MoorDynBody b, double m[6][6])
{
CHECK_BODY(b);
moordyn::mat6 mass = ((moordyn::Body*)b)->getM();
moordyn::mat62array(mass, m);
return MOORDYN_SUCCESS;
}

int DECLDIR
MoorDyn_SaveBodyVTK(MoorDynBody b, const char* filename)
{
Expand Down
48 changes: 48 additions & 0 deletions source/Body.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,54 @@ extern "C"
*/
int DECLDIR MoorDyn_GetBodyState(MoorDynBody b, double r[6], double rd[6]);

/** @brief Get the body position
* @param b The Moordyn body
* @param r The output position (3dof)
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyPos(MoorDynBody b, double r[3]);

/** @brief Get the body angle
* @param b The Moordyn body
* @param r The output angles (3dof)
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyAngle(MoorDynBody b, double r[3]);

/** @brief Get the body velocity
* @param b The Moordyn body
* @param rd The output velocity (3dof)
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyVel(MoorDynBody b, double rd[3]);

/** @brief Get the body angular velocity
* @param b The Moordyn body
* @param rd The output angular velocity (3dof)
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyAngVel(MoorDynBody b, double rd[3]);

/** @brief Get the body angular velocity
* @param b The Moordyn body
* @param rd The output angular velocity (3dof)
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyForce(MoorDynBody b, double f[6]);

/** @brief Get the body mass and intertia matrix
* @param b The Moordyn body
* @param m The output mass matrix
* @return MOORDYN_INVALID_VALUE if a NULL body is provided, MOORDYN_SUCCESS
* otherwise
*/
int DECLDIR MoorDyn_GetBodyM(MoorDynBody b, double m[6][6]);

/** @brief Save the point to a VTK (.vtp) file
* @param b The Moordyn body
* @param filename The output maximum tension module
Expand Down
12 changes: 6 additions & 6 deletions source/Body.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -303,33 +303,33 @@ class Body final : public io::IO
/** @brief Get the body position
* @return The body position
*/
inline vec getPosition() const { return r7.pos; }
inline const vec getPosition() const { return r7.pos; }

/** @brief Get the body Euler XYZ angles
* @return The body Euler XYZ angles
*/
inline vec getAngles() const { return Quat2Euler(r7.quat); }
inline const vec getAngles() const { return Quat2Euler(r7.quat); }
// inline vec getAngles() const { return r6(Eigen::seqN(3, 3)); }

/** @brief Get the body velocity
* @return The body velocity
*/
inline vec getVelocity() const { return v6(Eigen::seqN(0, 3)); }
inline const vec getVelocity() const { return v6(Eigen::seqN(0, 3)); }

/** @brief Get the body angular velocity
* @return The body angular velocity
*/
inline vec getAngularVelocity() const { return v6(Eigen::seqN(3, 3)); }
inline const vec getAngularVelocity() const { return v6(Eigen::seqN(3, 3)); }

/** @brief Get the forces and moments exerted over the body
* @return The net force
*/
vec6 getFnet();
const vec6 getFnet() const;

/** @brief Get the mass and intertia matrix
* @return The mass and inertia matrix
*/
inline mat6 getM() const { return M; };
inline const mat6& getM() const { return M; };

/** @brief Get body output
*
Expand Down
112 changes: 112 additions & 0 deletions source/Line.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1681,6 +1681,34 @@ MoorDyn_GetLineNodePos(MoorDynLine l, unsigned int i, double pos[3])
return err;
}

int DECLDIR
MoorDyn_GetLineNodeVel(MoorDynLine l, unsigned int i, double vel[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec rd = ((moordyn::Line*)l)->getNodeVel(i);
moordyn::vec2array(rd, vel);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeForce(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeForce(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeTen(MoorDynLine l, unsigned int i, double ten[3])
{
Expand All @@ -1695,6 +1723,76 @@ MoorDyn_GetLineNodeTen(MoorDynLine l, unsigned int i, double ten[3])
return err;
}

int DECLDIR
MoorDyn_GetLineNodeBendStiff(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeBendStiff(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeWeight(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeWeight(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeDrag(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeDrag(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeFroudeKrilov(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeFroudeKrilov(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeSeabedForce(MoorDynLine l, unsigned int i, double f[3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::vec force = ((moordyn::Line*)l)->getNodeSeabedForce(i);
moordyn::vec2array(force, f);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineNodeCurv(MoorDynLine l, unsigned int i, double* curv)
{
Expand All @@ -1709,6 +1807,20 @@ MoorDyn_GetLineNodeCurv(MoorDynLine l, unsigned int i, double* curv)
return err;
}

int DECLDIR
MoorDyn_GetLineNodeM(MoorDynLine l, unsigned int i, double m[3][3])
{
CHECK_LINE(l);
moordyn::error_id err = MOORDYN_SUCCESS;
string err_msg;
try {
const moordyn::mat mass = ((moordyn::Line*)l)->getNodeM(i);
moordyn::mat2array(mass, m);
}
MOORDYN_CATCHER(err, err_msg);
return err;
}

int DECLDIR
MoorDyn_GetLineFairTen(MoorDynLine l, double* t)
{
Expand Down
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