A FlowConnector is a junction of a set of FlowUnits. More...

#include <FlowConnector.h>

Inheritance diagram for agxHydraulics::FlowConnector:

Public Member Functions
	FlowConnector (bool holonomic=true)
	A flow connector can either be holonomic or nonholonomic.

virtual bool	connect (agxPowerLine::Side mySide, agxPowerLine::Side unitSide, agxPowerLine::Unit *unit) override
	Connect the given unit to this FlowConnector.

agx::Real	getCompliance () const

agx::Real	getDamping () const

virtual agx::Real	getPressure () const override

agx::Real	getStoredFluid () const
	Only valid for holonomic FlowConnectors.

agx::Real	getVolumeExpansionPressureRatio () const
	Alias for getCompliance().

void	setCompliance (agx::Real volumePerPressure)
	Set the compliance of the flow constraint.

void	setDamping (agx::Real damping)
	Set the damping of the flow constraint.

void	setVolumeExpansionPressureRatio (agx::Real ratio)
	Alias for setCompliance(agx::Real).

Public Member Functions inherited from agxHydraulics::PressureConnector
virtual agx::Real	getPressure () const =0

virtual bool	restore (agxStream::StorageStream &str)
	Restores internal data from stream.

virtual bool	store (agxStream::StorageStream &str) const
	Stores internal data into stream.

Public Member Functions inherited from agxPowerLine::Connector
	Connector ()
	create a connector

virtual bool	addNotification (agxSDK::Simulation *simulation) override

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agxPowerLine::Connector)

virtual agx::RegularizationParameters::VariableType	calculateComplianceAndDamping (const agx::Real, agx::Real &, agx::Real &)
	Calculate the compliance and damping according to the connector properties (efficiency, ratio, ..)

agx::Real	calculateEfficiency () const
	calculate simulated efficiency

virtual agx::Real	calculateViolation () const
	calculate violation for constraint

bool	compareWithInputTypes (PhysicalDimensionRefVector &dimensions) const

bool	compareWithOutputTypes (PhysicalDimensionRefVector &dimensions) const

bool	connect (agxPowerLine::PhysicalDimension *dimension, agxPowerLine::Side connectorSide, agxPowerLine::Side dimensionSide)
	Connect on the physical dimension level only.

virtual bool	connect (agxPowerLine::PhysicalDimension inputDimension, agxPowerLine::Side inputSide, agxPowerLine::Side outputSide, agxPowerLine::PhysicalDimension outputDimension)

virtual bool	connect (agxPowerLine::Side mySide, agxPowerLine::Side unitSide, agxPowerLine::Unit *unit)

virtual bool	connect (agxPowerLine::Unit *unit)
	Connect a unit to this Connector.

bool	connectDimensions (Unit *unit, agxPowerLine::Side mySide, agxPowerLine::Side unitSide)

virtual agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation *	createConstraint ()=0
	Create the constraint (implement this to create whatever constraint you need)

virtual bool	disconnect ()

bool	disconnect (agxPowerLine::PhysicalDimension *dimension, agxPowerLine::Side connectorSide, agxPowerLine::Side dimensionSide)

virtual bool	disconnect (agxPowerLine::Unit *unit)
	Disconnect the given unit from this Connector.

agxPowerLine::Connection *	findConnection (const agxPowerLine::Unit *unit, agxPowerLine::Side side)

const agxPowerLine::Connection *	findConnection (const agxPowerLine::Unit *unit, agxPowerLine::Side side) const

agxPowerLine::Connection *	findInputConnection (const agxPowerLine::Unit *unit)

const agxPowerLine::Connection *	findInputConnection (const agxPowerLine::Unit *unit) const

agxPowerLine::Connection *	findOutputConnection (const agxPowerLine::Unit *unit)

const agxPowerLine::Connection *	findOutputConnection (const agxPowerLine::Unit *unit) const

const agxPowerLine::ConnectionRefVector &	getConnections (agxPowerLine::Side side) const

agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation *	getConstraint () const

agx::Real	getDamping () const

agxPowerLine::ElementaryPhysicalDimensionConstraint *	getElementaryConstraint () const

bool	getIgnoreForStoreRestoreStream () const

agxPowerLine::Connection *	getInputConnection (size_t index)
	return a specific input connection

const agxPowerLine::Connection *	getInputConnection (size_t index) const
	return a specific output connection

agxPowerLine::ConnectionRefVector &	getInputConnections ()
	return vector to all input connections from this connector

const agxPowerLine::ConnectionRefVector &	getInputConnections () const
	return vector to all input connections from this connector

PhysicalDimension *	getInputDimension (const PhysicalDimension::Type dimensionType) const

const DimensionTypeVector &	getInputTypes () const

bool	getInputUnits (UnitConstPtrSetVector &units, const bool startFromCleanUnitSet=true) const

bool	getInputUnits (UnitPtrSetVector &units, const bool startFromCleanUnitSet=true)

int	getNumConnections () const

int	getNumConnections (agxPowerLine::Side side) const

int	getNumFreeConnections () const

int	getNumFreeConnections (agxPowerLine::Side side) const

int	getNumFreeInputConnections () const

int	getNumFreeOutputConnections () const

int	getNumInputConnections () const

int	getNumOutputConnections () const

int	getNumPossibleInputConnections () const

int	getNumPossibleOutputConnections () const

agxPowerLine::Connection *	getOutputConnection (size_t index)
	return a specific input connection

const agxPowerLine::Connection *	getOutputConnection (size_t index) const
	return a specific output connection

agxPowerLine::ConnectionRefVector &	getOutputConnections ()
	return vector to all output connections from this connector

const agxPowerLine::ConnectionRefVector &	getOutputConnections () const
	return vector to all output connections from this connector

PhysicalDimension *	getOutputDimension (const PhysicalDimension::Type dimensionType) const

const DimensionTypeVector &	getOutputTypes () const

bool	getOutputUnits (UnitConstPtrSetVector &units, const bool startFromCleanUnitSet=true) const

bool	getOutputUnits (UnitPtrSetVector &units, const bool startFromCleanUnitSet=true)

agx::Real	getPowerIn () const

agxPowerLine::PowerLine *	getPowerLine () const

agx::Real	getPowerOut () const

agx::Real	getRatio () const

virtual agx::Real	getRatio (agx::Real x) const

agx::Real	getRatioDerivative () const

virtual agx::Real	getRatioDerivative (agx::Real x) const

virtual agxPowerLine::Side	getSide (const agxPowerLine::Unit *unit) const

const DimensionTypeVector &	getTypes (agxPowerLine::Side side) const

bool	getUnits (UnitConstPtrSetVector &units, agxPowerLine::Side side, const bool startFromCleanUnitSet=true) const

bool	getUnits (UnitConstPtrSetVector &units, const bool startFromCleanUnitSet=true) const

bool	getUnits (UnitPtrSetVector &units, agxPowerLine::Side side, const bool startFromCleanUnitSet=true)

bool	getUnits (UnitPtrSetVector &units, const bool startFromCleanUnitSet=true)

virtual agx::Real	getViolation () const
	Returns the constraint violation for connectors with holonomic constraints.

bool	hasFreeConnection () const

bool	hasFreeConnection (agxPowerLine::Side side) const

bool	hasFreeInputConnection () const

bool	hasFreeOutputConnection () const

bool	hasInputConnection (Connection *connection)
	Find out if the connection belongs to this connector.

bool	hasOutputConnection (Connection *connection)

virtual void	initConstraint ()

bool	isConstraintValid () const

virtual bool	isInput (const agxPowerLine::PhysicalDimension *dimension) const
	Determine if the given dimension is part of any of the input connections of this Connector.

virtual bool	isOutput (Connection *connection) const
	Find out if a connection is output from this connector.

virtual bool	isOutput (const agxPowerLine::PhysicalDimension *dimension) const
	Find out if the given dimension is part of any of the output connections.

virtual bool	postRestore (agxStream::StorageStream &str)

virtual bool	postStore (agxStream::StorageStream &str) const
	Set values of constraints.

virtual bool	removeNotification (agxUtil::ConstraintHolder holder, agxSDK::Simulation simulation) override
	remove connector and constraint from simulation

virtual void	restore (agxStream::InputArchive &in) override

virtual bool	restore (agxStream::StorageStream &str) override
	Restores internal data from stream.

void	setConstraint (agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation *constraint)
	set the constraint that represents this connector in the solver.

void	setDamping (agx::Real damping)
	Set the damping of the constraint.

void	setIgnoreForStoreRestoreStream (bool ignore)

void	setNumPossibleInputConnections (int num)
	Define number of input dimensions the constraint should handle.

void	setNumPossibleOutputConnections (int num)
	Define number of output dimensions the constraint should handle.

void	setPowerLine (agxPowerLine::PowerLine *powerLine)

virtual void	store (agxStream::OutputArchive &out) const override

virtual bool	store (agxStream::StorageStream &str) const override
	Stores internal data for this segment into stream.

virtual bool	vetoConnect (agxPowerLine::Unit *unit) const

Public Member Functions inherited from agxPowerLine::SubGraph
	SubGraph ()

virtual bool	addNotification (agxSDK::Simulation *simulation)=0

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agxPowerLine::SubGraph)

virtual void	getConnectorsRecursive (ConnectorPtrVector &connectors)
	Fill the given vector with the Connectors that are held by this SubGraph.

Connector *	getEnclosingConnector ()

const Connector *	getEnclosingConnector () const

SubGraph *	getEnclosingGraph ()

const SubGraph *	getEnclosingGraph () const

Unit *	getEnclosingUnit ()

const Unit *	getEnclosingUnit () const

const agxPowerLine::ConnectorRefVector &	getInternalConnectors () const

const agxPowerLine::UnitRefVector &	getInternalUnits () const

const agx::Name &	getName () const

SubGraph *	getRootEnclosingGraph ()

const SubGraph *	getRootEnclosingGraph () const

virtual void	getUnitsRecursive (UnitPtrVector &units)
	Fill the given vector with the Units that are held by this SubGraph.

bool	isEnclosedWithin (const SubGraph *component) const

virtual bool	postUpdate (agx::Real timeStep)

virtual void	prepareForRestore ()

virtual void	prepareForStore ()

virtual bool	preUpdate (agx::Real timeStep)

virtual bool	removeNotification (agxUtil::ConstraintHolder holder, agxSDK::Simulation simulation)=0

virtual void	restore (agxStream::InputArchive &in) override

virtual bool	restore (agxStream::StorageStream &str)
	Restores internal data from stream.

void	setName (const agx::Name &name)
	Set the name of this power line component.

void	spreadPowerLineToGraph ()

virtual void	store (agxStream::OutputArchive &out) const override

virtual bool	store (agxStream::StorageStream &str) const
	Stores internal data into stream.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agx::Real	getDefaultCompliance ()

static agx::Real	getDefaultDamping ()

static void	setDefaultCompliance (agx::Real compliance)
	Set the default compliance for new flow connectors.

static void	setDefaultDamping (agx::Real damping)
	Set the default damping for new flow connectors.

Static Public Member Functions inherited from agxPowerLine::Connector
static PhysicalDimension *	getDimension (const ConnectionRefVector &connections, const PhysicalDimension::Type dimensionType)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~FlowConnector ()

virtual bool	connect (agxPowerLine::Unit inputUnit, agxPowerLine::Side inputUnitSide, agxPowerLine::Side outputUnitSide, agxPowerLine::Unit outputUnit) override

Protected Member Functions inherited from agxHydraulics::PressureConnector
	PressureConnector ()

virtual	~PressureConnector ()

Protected Member Functions inherited from agxPowerLine::Connector
virtual	~Connector ()

virtual bool	connect (agxPowerLine::Unit inputUnit, agxPowerLine::Side inputUnitSide, agxPowerLine::Side outputUnitSide, agxPowerLine::Unit outputUnit)

bool	getUnits (UnitConstPtrSetVector &units, const ConnectionRefVector &connections, const bool startFromCleanUnitSet=true) const

bool	getUnits (UnitPtrSetVector &units, ConnectionRefVector &connections, const bool startFromCleanUnitSet=true)

bool	hasNonValidInputConnection () const

bool	hasNonValidOutputConnection () const

void	setRatio (agx::Real ratio)
	set/get the ratio (scaling of load through the constraint).

void	setRatioDerivative (agx::Real ratioDerivative)

void	uninitialize ()

Protected Member Functions inherited from agxPowerLine::SubGraph
virtual	~SubGraph ()

void	addInternalConnector (agxPowerLine::Connector *connector)

void	addInternalUnit (agxPowerLine::Unit *unit)

void	removeInternalConnector (agxPowerLine::Connector *connector)

void	removeInternalUnit (agxPowerLine::Unit *unit)

agx::Bool	replaceInternalUnit (agxPowerLine::Unit oldUnit, agxPowerLine::Unit newUnit)

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agxPowerLine::Connector
PhysicalDimensionMultiBodyConstraintImplementation *	m_constraint

agx::Real	m_damping

bool	m_ignoreMeForStoreRestoreStream

ConnectionRefVector	m_inputConnections

DimensionTypeVector	m_inputTypes

int	m_numPossibleInputs

int	m_numPossibleOutputs

ConnectionRefVector	m_outputConnections

DimensionTypeVector	m_outputTypes

agx::Real	m_ratio

agx::Real	m_ratioDerivative

Protected Attributes inherited from agxPowerLine::SubGraph
SubGraphObserver	m_enclosingGraph

ConnectorRefVector	m_internalConnectors

UnitRefVector	m_internalUnits

agx::Name	m_name

PowerLine *	m_powerLine

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

A FlowConnector is a junction of a set of FlowUnits.

The FlowConnector ensures that the sum of flows through the junction is close to zero, i.e., that no fluid is created or destroyed. Regularization in the constraints causes a small amount of fluid to either be stored in the junction or lost, so output flow rate is not always exactly equal to the input flow rate.

Definition at line 39 of file FlowConnector.h.

Constructor & Destructor Documentation

◆ FlowConnector()

agxHydraulics::FlowConnector::FlowConnector ( bool holonomic = true )

A flow connector can either be holonomic or nonholonomic.

A holonomic FlowConnector tracks the total input and output flow and flexes in order to hold any stored fluid. A nonholonomic FlowConnector does not track the differences in flow rate. A higher input flow rate than output flow rate will produce a leak.

◆ ~FlowConnector()

virtual agxHydraulics::FlowConnector::~FlowConnector ( )

inlineprotectedvirtual

Definition at line 213 of file FlowConnector.h.

Member Function Documentation

◆ connect() [1/2]

virtual bool agxHydraulics::FlowConnector::connect	(	agxPowerLine::Side	mySide,
		agxPowerLine::Side	unitSide,
		agxPowerLine::Unit *	unit
	)

overridevirtual

Connect the given unit to this FlowConnector.

If the given side already has a FlowConnector then that FlowConnector will be merged into 'this'. The old FlowConnector will be empty.

Reimplemented from agxPowerLine::Connector.

Reimplemented in agxHydraulics::detail::SpoolValveConnector.

◆ connect() [2/2]

virtual bool agxHydraulics::FlowConnector::connect	(	agxPowerLine::Unit *	inputUnit,
		agxPowerLine::Side	inputUnitSide,
		agxPowerLine::Side	outputUnitSide,
		agxPowerLine::Unit *	outputUnit
	)

overrideprotectedvirtual

Reimplemented from agxPowerLine::Connector.

◆ getCompliance()

agx::Real agxHydraulics::FlowConnector::getCompliance ( ) const

Returns: The compliance of the flow constraint.

See also: setCompliance

◆ getDamping()

agx::Real agxHydraulics::FlowConnector::getDamping ( ) const

Returns: The damping of the flow constraint.

◆ getDefaultCompliance()

static agx::Real agxHydraulics::FlowConnector::getDefaultCompliance ( )

static

Returns: The compliance that new FlowConnectors get upon creation.

◆ getDefaultDamping()

static agx::Real agxHydraulics::FlowConnector::getDefaultDamping ( )

static

Returns: The damping that new FlowConnectors get upon creation.

◆ getPressure()

virtual agx::Real agxHydraulics::FlowConnector::getPressure ( ) const

overridevirtual

Returns: The current pressure in the junction.

Implements agxHydraulics::PressureConnector.

◆ getStoredFluid()

agx::Real agxHydraulics::FlowConnector::getStoredFluid ( ) const

Only valid for holonomic FlowConnectors.

Returns: The amount of fluid currently stored in the junction.

◆ getVolumeExpansionPressureRatio()

agx::Real agxHydraulics::FlowConnector::getVolumeExpansionPressureRatio ( ) const

Alias for getCompliance().

◆ setCompliance()

void agxHydraulics::FlowConnector::setCompliance ( agx::Real volumePerPressure )

Set the compliance of the flow constraint.

For a holonomic FlowConnector this controls the flexibility of the junction. A larger compliance causes the FlowConnector to hold more fluid for a given pressure. The unit is volume/pressure. At steady state the amount of fluid held by the junction is

volume = compliance * pressure

For a nonholonimc constraint the compliance controls the amount of leakage at the junction. A larger compliance causes the FlowConnector to leak more fluid for a given pressure. The unit is volume/time / pressure. At steady state the amount of fluid leaked by the junction is

volume / time = compliance * pressure

◆ setDamping()

void agxHydraulics::FlowConnector::setDamping ( agx::Real damping )

Set the damping of the flow constraint.

Has no effect on nonholonomic FlowConnectors.

◆ setDefaultCompliance()

static void agxHydraulics::FlowConnector::setDefaultCompliance ( agx::Real compliance )

static

Set the default compliance for new flow connectors.

This will only change the initial compliance for flow connectors created after the call to setDefaultCompliance. Flow connectors already created remain unchanged.

See also: FlowConnector::setCompliance(agx::Real)

◆ setDefaultDamping()

static void agxHydraulics::FlowConnector::setDefaultDamping ( agx::Real damping )

static

Set the default damping for new flow connectors.

This will only change the initial damping for flow connectors created after the call to setDefaultDamping. Flow connectors already created remain unchanged.

See also: FlowConnector::setDamping(agx::Real)

◆ setVolumeExpansionPressureRatio()

void agxHydraulics::FlowConnector::setVolumeExpansionPressureRatio ( agx::Real ratio )

Alias for setCompliance(agx::Real).

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

FlowConnector.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FlowConnector()

◆ ~FlowConnector()

Member Function Documentation

◆ connect() [1/2]

◆ connect() [2/2]

◆ getCompliance()

◆ getDamping()

◆ getDefaultCompliance()

◆ getDefaultDamping()

◆ getPressure()

◆ getStoredFluid()

◆ getVolumeExpansionPressureRatio()

◆ setCompliance()

◆ setDamping()

◆ setDefaultCompliance()

◆ setDefaultDamping()

◆ setVolumeExpansionPressureRatio()