Evaluation of the formal uncertainty in the volume, center of mass, inertia tensor parametrization from a topologically-closed, constant density polyhedron. More...

#include <SBGATMassPropertiesUQ.hpp>

Inheritance diagram for SBGATMassPropertiesUQ:

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Collaboration diagram for SBGATMassPropertiesUQ:

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Public Member Functions
virtual void	SetModel (vtkSmartPointer< SBGATFilter > model)

const arma::mat &	GetPartialComPartialC () const

const arma::mat &	GetPartialIPartialC () const

const arma::mat &	GetPartialSigmaPartialC () const

const arma::rowvec &	GetPartialVolumePartialC () const

virtual void	ApplyDeviation (const arma::vec &delta_C)

void	PrecomputeMassPropertiesPartials ()

const arma::mat &	GetPartialUnitDensityMomentsPartialI () const

const arma::mat::fixed< 3, 6 > &	GetPartialSigmaPartialI () const

Public Member Functions inherited from SBGATFilterUQ
vtkSmartPointer< SBGATFilter >	GetModel ()

arma::mat	GetCovarianceSquareRoot (std::string method="chol") const

void	ComputeVerticesCovarianceGlobal (const double &standard_dev, const double &correl_distance)

void	AddRadialUncertaintyRegionToCovariance (int region_center_index, const double &standard_dev, const double &correl_distance)

int	RegularizeCovariance ()

void	AddNormalUncertaintyRegionToCovariance (int region_center_index, const double &standard_dev, const double &correl_distance)

void	SetCovarianceComponent (const arma::mat::fixed< 3, 3 > &P, const int &v0, const int &v1)

void	SetCovariance (const arma::mat &P_CC)

void	SaveVerticesCovariance (std::string path) const

arma::mat	GetVerticesCovariance () const

void	SaveNonZeroVerticesCovariance (std::string path) const

int	LoadVerticesCovarianceFromJson (std::string path)

arma::sp_mat	PartialTfPartialC (const int &f) const

arma::mat::fixed< 3, 9 >	PartialNfPartialTf (const int &f) const

void	TakeAndSaveSlice (int axis, std::string path, const double &c) const

Static Public Member Functions
static void	TestPartials (std::string input, double tol, bool shape_in_meters)

static void	RunMCUQVolumeCOMInertia (std::string path_to_shape, const double &density, const bool &shape_in_meters, const arma::mat &C_CC, const unsigned int &N_samples, std::string output_dir, int N_saved_shapes, arma::mat &deviations, arma::vec &all_volumes, arma::mat &all_com, arma::mat &all_inertia)

Static Public Member Functions inherited from SBGATFilterUQ
static arma::mat	GetCovarianceSquareRoot (arma::mat P_CC, std::string method)

static double	KLDivergence (const arma::vec &m0, const arma::mat &m1, const arma::mat &P0, const arma::mat &P1)

Protected Member Functions
arma::mat::fixed< 3, 6 >	PartialSigmaPartialI () const

arma::mat::fixed< 3, 6 >	PartialUnitDensityMomentsPartialI () const

arma::rowvec::fixed< 9 >	PartialEqDeltaIfErPartialTf (const int &f, const int &q, const int &r, const arma::vec::fixed< 9 > &Tf) const

arma::mat::fixed< 3, 9 >	PartialDeltaComPartialTf (const int &f) const

arma::rowvec::fixed< 9 >	PartialEqDeltaIOverDeltaVfErPartialTf (const arma::vec::fixed< 3 > &e_q, const arma::vec::fixed< 3 > &e_r, const arma::vec::fixed< 9 > &Tf) const

arma::rowvec::fixed< 9 >	PartialDeltaVfPartialTf (const int &f) const

arma::mat::fixed< 6, 9 >	PartialDeltaIfPartialTf (const int &f) const

arma::mat::fixed< 6, 9 >	PartialDeltaIOverDeltaVPartialTf (const int &f) const

virtual void	ApplyTfDeviation (arma::vec::fixed< 9 > delta_Tf, const int &f)

Protected Member Functions inherited from SBGATFilterUQ
void	SaveSlice (int axis, std::string path, const std::vector< std::vector< arma::vec > > &lines) const

void	TakeSlice (int axis, std::vector< std::vector< arma::vec > > &lines, const double &c) const

Static Protected Member Functions
static arma::mat::fixed< 3, 9 >	PartialDeltaCMfPartialTf ()

static void	TestPartialDeltaVfPartialTf (std::string input, double tol, bool shape_in_meters)

static void	TestPartialDeltaIOverDeltaVPartialTf (std::string input, double tol, bool shape_in_meters)

static void	TestPartialDeltaIfPartialTf (std::string input, double tol, bool shape_in_meters)

static void	TestPartialDeltaVPartialC (std::string input, double tol, bool shape_in_meters)

static void	TestGetPartialVolumePartialC (std::string input, double tol, bool shape_in_meters)

static void	TestGetPartialComPartialC (std::string input, double tol, bool shape_in_meters)

static void	TestGetPartialIPartialC (std::string input, double tol, bool shape_in_meters)

static void	TestGetPartialAllInertiaPartialC (std::string input, double tol, bool shape_in_meters)

static void	TestPartialEqDeltaIfErPartialTf (std::string input, double tol, bool shape_in_meters)

static void	TestGetPartialSigmaPartialC (std::string input, double tol, bool shape_in_meters)

Protected Attributes
arma::rowvec	precomputed_partialVpartialC

arma::mat	precomputed_partialGpartialC

arma::mat	precomputed_partialSigmapartialC

arma::mat	precomputed_partialIpartialC

arma::mat::fixed< 3, 6 >	precomputed_partialUnitDensityMomentsPartialI

arma::mat::fixed< 3, 6 >	precomputed_partialSigmapartialI

Protected Attributes inherited from SBGATFilterUQ
vtkSmartPointer< SBGATFilter >	model

arma::mat	P_CC

arma::sp_mat	P_CC_sparse

Detailed Description

Evaluation of the formal uncertainty in the volume, center of mass, inertia tensor parametrization from a topologically-closed, constant density polyhedron.

Author: Benjamin Bercovici

Date: January 2019

Copyright: MIT License, Benjamin Bercovici and Jay McMahon

Definition at line 22 of file SBGATMassPropertiesUQ.hpp.

Member Function Documentation

◆ ApplyDeviation()

void SBGATMassPropertiesUQ::ApplyDeviation ( const arma::vec & delta_C )

virtual

Applies prescribed deviation to all the N_vertices control points and updates model

Parameters

delta_C deviation (3 * N_vertices x 1)

Implements SBGATFilterUQ.

Reimplemented in SBGATPolyhedronGravityModelUQ.

Definition at line 852 of file SBGATMassPropertiesUQ.cpp.

◆ ApplyTfDeviation()

void SBGATMassPropertiesUQ::ApplyTfDeviation	(	arma::vec::fixed< 9 >	delta_Tf,
		const int &	f
	)

protectedvirtual

Applies deviation to the coordinates of the vertices in the prescribed facet and updates the pgm

Parameters

delta_Tf	deviation
f	facet index

Implements SBGATFilterUQ.

Reimplemented in SBGATPolyhedronGravityModelUQ.

Definition at line 293 of file SBGATMassPropertiesUQ.cpp.

◆ GetPartialComPartialC()

const arma::mat& SBGATMassPropertiesUQ::GetPartialComPartialC ( ) const

inline

Return the partial derivative of the shape's center of mass with respect to the shape's vertices coordinates

Returns: partial derivative of the shape's center of mass with respect to the shape's vertices

Definition at line 47 of file SBGATMassPropertiesUQ.hpp.

◆ GetPartialIPartialC()

const arma::mat& SBGATMassPropertiesUQ::GetPartialIPartialC ( ) const

inline

Return the partial derivative of the 6 unique components of the inertia tensor {I(0,0),I(1,1),I(2,2),I(0,1),I(0,2),I(1,2)} with respect to the shape coordinates

Returns: partial derivative

Definition at line 55 of file SBGATMassPropertiesUQ.hpp.

◆ GetPartialSigmaPartialC()

const arma::mat& SBGATMassPropertiesUQ::GetPartialSigmaPartialC ( ) const

inline

Return the partial derivative of the MRP orienting the body-frame (B) to principal-frame (P) dcm (PB) with respect to the shape vertices coordinates

Returns: partial derivative

Definition at line 63 of file SBGATMassPropertiesUQ.hpp.

◆ GetPartialSigmaPartialI()

const arma::mat::fixed<3,6>& SBGATMassPropertiesUQ::GetPartialSigmaPartialI ( ) const

inline

Return the partial derivative of the MRP orienting the body-frame (B) to principal-frame (P) dcm (PB) with respect to the inertia tensor parametrization

Returns: partial derivative

Definition at line 99 of file SBGATMassPropertiesUQ.hpp.

◆ GetPartialUnitDensityMomentsPartialI()

const arma::mat& SBGATMassPropertiesUQ::GetPartialUnitDensityMomentsPartialI ( ) const

inline

Return the partial derivative of the unit density moments relative to a change in the inertia tensor parametrization

Returns: partial derivative of the unit density moments relative to a change in the inertia tensor parametrization

Definition at line 91 of file SBGATMassPropertiesUQ.hpp.

◆ GetPartialVolumePartialC()

const arma::rowvec& SBGATMassPropertiesUQ::GetPartialVolumePartialC ( ) const

inline

Return the partial derivative of the volume with respect to the shape coordinates

Returns: partial derivative

Definition at line 71 of file SBGATMassPropertiesUQ.hpp.

◆ PartialDeltaCMfPartialTf()

arma::mat::fixed< 3, 9 > SBGATMassPropertiesUQ::PartialDeltaCMfPartialTf ( )

staticprotected

Return the partial derivative of the center of mass of the considered tetrahedron with respect to the facet coordinates

Returns: partial derivative of center of mass with respect to facet coordinates

Definition at line 37 of file SBGATMassPropertiesUQ.cpp.

◆ PartialDeltaComPartialTf()

arma::mat::fixed< 3, 9 > SBGATMassPropertiesUQ::PartialDeltaComPartialTf ( const int & f ) const

protected

Return the partial derivative of the shape's center-of-mass with respect to the f-th facet coordinates

Parameters

f	facet index

Returns: partial derivative of shape's center-of-mass with respect to facet coordinates

Definition at line 644 of file SBGATMassPropertiesUQ.cpp.

◆ PartialDeltaIfPartialTf()

arma::mat::fixed< 6, 9 > SBGATMassPropertiesUQ::PartialDeltaIfPartialTf ( const int & f ) const

protected

Return the partial derivative of the tetrahedron's inertia tensor parametrization relative to the facet coordinates

Parameters

f	facet index

Returns: partial derivative of the tetrahedron's inertia tensor parametrization relative to the facet coordinates

Definition at line 725 of file SBGATMassPropertiesUQ.cpp.

◆ PartialDeltaIOverDeltaVPartialTf()

arma::mat::fixed<6,9> SBGATMassPropertiesUQ::PartialDeltaIOverDeltaVPartialTf ( const int & f ) const

protected

Return the partial derivative of a tetrahedron's inertia-times-volume tensor parametrization with respect to the subtending facet's vertices coordinates

Parameters

f	facet index

Returns: partial derivative of the tetrahedron's inertia-times-volume tensor parametrization with respect to the subtending facet's vertices coordinates

◆ PartialDeltaVfPartialTf()

arma::rowvec::fixed< 9 > SBGATMassPropertiesUQ::PartialDeltaVfPartialTf ( const int & f ) const

protected

Return the partial derivative of the volume of the tetrahedron subtended by facet f with respect to the facet coordinates

Parameters

f	facet index

Returns: partial derivative of tetrahedron volume with respect to facet coordinates

Definition at line 16 of file SBGATMassPropertiesUQ.cpp.

◆ PartialEqDeltaIfErPartialTf()

arma::rowvec::fixed< 9 > SBGATMassPropertiesUQ::PartialEqDeltaIfErPartialTf	(	const int &	f,
		const int &	q,
		const int &	r,
		const arma::vec::fixed< 9 > &	Tf
	)		const

protected

Return the partial derivative of the (q,r) component of the contribution of the f-facet to the shape's inertia tensor, relative to the f-facet vertices coordinates

Parameters

f	facet index
q	first index
r	second index
Tf	9x1 vector holding coordinates of vertices in facet EXPRESSED IN METERS

Returns: partial derivative of the (q,r) component of the contribution of the f-facet to the shape's inertia tensor

Definition at line 661 of file SBGATMassPropertiesUQ.cpp.

◆ PartialEqDeltaIOverDeltaVfErPartialTf()

arma::rowvec::fixed< 9 > SBGATMassPropertiesUQ::PartialEqDeltaIOverDeltaVfErPartialTf	(	const arma::vec::fixed< 3 > &	e_q,
		const arma::vec::fixed< 3 > &	e_r,
		const arma::vec::fixed< 9 > &	Tf
	)		const

protected

Return the partial derivative of e_q.T * DeltaIOverDeltaVfEr * e_r with respect to the f-facet vertices coordinates

Parameters

e_q	first 3x1 vector canonical unit vector
e_r	first 3x1 vector canonical unit vector
Tf	9x1 vector holding coordinates of vertices in facet EXPRESSED IN METERS

Returns: the partial derivative of e_q.T * DeltaIOverDeltaVfEr * e_r with respect to the f-facet vertices coordinates

Definition at line 688 of file SBGATMassPropertiesUQ.cpp.

◆ PartialSigmaPartialI()

arma::mat::fixed< 3, 6 > SBGATMassPropertiesUQ::PartialSigmaPartialI ( ) const

protected

Returns the partial derivative of the MRP orienting the principal axes with respect to the parametrization of the unit-density inertia tensor

Returns: partial derivative

Definition at line 880 of file SBGATMassPropertiesUQ.cpp.

◆ PartialUnitDensityMomentsPartialI()

arma::mat::fixed< 3, 6 > SBGATMassPropertiesUQ::PartialUnitDensityMomentsPartialI ( ) const

protected

Returns partial derivative of unit-density inertia moments relative to the parametrization of the unit-density inertia tensor

Definition at line 965 of file SBGATMassPropertiesUQ.cpp.

◆ PrecomputeMassPropertiesPartials()

void SBGATMassPropertiesUQ::PrecomputeMassPropertiesPartials ( )

Evaluates the partial of the volume, center of mass and mrp orienting the principal axes relative to the vertices coordinates and stores the computed partials in designated containers

Definition at line 1022 of file SBGATMassPropertiesUQ.cpp.

◆ RunMCUQVolumeCOMInertia()

void SBGATMassPropertiesUQ::RunMCUQVolumeCOMInertia	(	std::string	path_to_shape,
		const double &	density,
		const bool &	shape_in_meters,
		const arma::mat &	C_CC,
		const unsigned int &	N_samples,
		std::string	output_dir,
		int	N_saved_shapes,
		arma::mat &	deviations,
		arma::vec &	all_volumes,
		arma::mat &	all_com,
		arma::mat &	all_inertia
	)

static

Runs a Monte Carlo on the shape and the volume, center-of-mass and inertia tensor parametrizaton

Parameters

[in]	path_to_shape	path to reference shape
[in]	density	small body density in kg/m^3
[in]	shape_in_meters	true if reference shape has its units expressed in meters, false otherwise
[in]	C_CC	square root of the covariance of the shape vertices coordinates. Must be of dimensions (3N_C * 3N_C) where N_C is the number of vertices in the reference shape
[in]	N_samples	number of shape outcomes to draw
[in]	output_dir	path ending in "/" where to save shape-related monte-carlo data. Only used if last argument is larger than 0
[in]	N_saved_shapes	number of shape outcomes to save. must be lesser or equal than N_samples
[out]	deviations	holds N_samples 3*N_C column vectors storing the deviation applied to the coordinates of the reference shape at every sample
[out]	all_volumes	holds N_samples of the volume
[out]	all_com	holds N_samples of the center-of-mass
[out]	all_inertia	holds N_samples of the inertia tensor parametrization

Definition at line 1058 of file SBGATMassPropertiesUQ.cpp.

◆ SetModel()

virtual void SBGATMassPropertiesUQ::SetModel ( vtkSmartPointer< SBGATFilter > model )

inlinevirtual

Sets the model associated to this uncertainty quantification container and updates the partials of the mass properties relative to the shape

Parameters

[in]	pgm	pointer to valid SBGATFilter
[in]

Implements SBGATFilterUQ.

Definition at line 32 of file SBGATMassPropertiesUQ.hpp.

◆ TestGetPartialAllInertiaPartialC()

void SBGATMassPropertiesUQ::TestGetPartialAllInertiaPartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 473 of file SBGATMassPropertiesUQ.cpp.

◆ TestGetPartialComPartialC()

void SBGATMassPropertiesUQ::TestGetPartialComPartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 223 of file SBGATMassPropertiesUQ.cpp.

◆ TestGetPartialIPartialC()

void SBGATMassPropertiesUQ::TestGetPartialIPartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 334 of file SBGATMassPropertiesUQ.cpp.

◆ TestGetPartialSigmaPartialC()

void SBGATMassPropertiesUQ::TestGetPartialSigmaPartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 405 of file SBGATMassPropertiesUQ.cpp.

◆ TestGetPartialVolumePartialC()

void SBGATMassPropertiesUQ::TestGetPartialVolumePartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 153 of file SBGATMassPropertiesUQ.cpp.

◆ TestPartialDeltaIfPartialTf()

void SBGATMassPropertiesUQ::TestPartialDeltaIfPartialTf	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 570 of file SBGATMassPropertiesUQ.cpp.

◆ TestPartialDeltaIOverDeltaVPartialTf()

static void SBGATMassPropertiesUQ::TestPartialDeltaIOverDeltaVPartialTf	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

◆ TestPartialDeltaVfPartialTf()

void SBGATMassPropertiesUQ::TestPartialDeltaVfPartialTf	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 69 of file SBGATMassPropertiesUQ.cpp.

◆ TestPartialDeltaVPartialC()

static void SBGATMassPropertiesUQ::TestPartialDeltaVPartialC	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

◆ TestPartialEqDeltaIfErPartialTf()

void SBGATMassPropertiesUQ::TestPartialEqDeltaIfErPartialTf	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

staticprotected

Definition at line 748 of file SBGATMassPropertiesUQ.cpp.

◆ TestPartials()

void SBGATMassPropertiesUQ::TestPartials	(	std::string	input,
		double	tol,
		bool	shape_in_meters
	)

static

Runs a finite-differencing based test of the implemented PGM partials

Parameters

input	path to obj file used to test the partials
tol	relative tolerance
shape_in_meters	true if tested shape has its coordinates expressed in meters

Definition at line 48 of file SBGATMassPropertiesUQ.cpp.

Member Data Documentation

◆ precomputed_partialGpartialC

arma::mat SBGATMassPropertiesUQ::precomputed_partialGpartialC

protected

Definition at line 249 of file SBGATMassPropertiesUQ.hpp.

◆ precomputed_partialIpartialC

arma::mat SBGATMassPropertiesUQ::precomputed_partialIpartialC

protected

Definition at line 251 of file SBGATMassPropertiesUQ.hpp.

◆ precomputed_partialSigmapartialC

arma::mat SBGATMassPropertiesUQ::precomputed_partialSigmapartialC

protected

Definition at line 250 of file SBGATMassPropertiesUQ.hpp.

◆ precomputed_partialSigmapartialI

arma::mat::fixed<3,6> SBGATMassPropertiesUQ::precomputed_partialSigmapartialI

protected

Definition at line 253 of file SBGATMassPropertiesUQ.hpp.

◆ precomputed_partialUnitDensityMomentsPartialI

arma::mat::fixed<3,6> SBGATMassPropertiesUQ::precomputed_partialUnitDensityMomentsPartialI

protected

Definition at line 252 of file SBGATMassPropertiesUQ.hpp.

◆ precomputed_partialVpartialC

arma::rowvec SBGATMassPropertiesUQ::precomputed_partialVpartialC

protected

Definition at line 248 of file SBGATMassPropertiesUQ.hpp.

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

/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/include/SbgatCore/SBGATMassPropertiesUQ.hpp
/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/source/SBGATMassPropertiesUQ.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ ApplyDeviation()

◆ ApplyTfDeviation()

◆ GetPartialComPartialC()

◆ GetPartialIPartialC()

◆ GetPartialSigmaPartialC()

◆ GetPartialSigmaPartialI()

◆ GetPartialUnitDensityMomentsPartialI()

◆ GetPartialVolumePartialC()

◆ PartialDeltaCMfPartialTf()

◆ PartialDeltaComPartialTf()

◆ PartialDeltaIfPartialTf()

◆ PartialDeltaIOverDeltaVPartialTf()

◆ PartialDeltaVfPartialTf()

◆ PartialEqDeltaIfErPartialTf()

◆ PartialEqDeltaIOverDeltaVfErPartialTf()

◆ PartialSigmaPartialI()

◆ PartialUnitDensityMomentsPartialI()

◆ PrecomputeMassPropertiesPartials()

◆ RunMCUQVolumeCOMInertia()

◆ SetModel()

◆ TestGetPartialAllInertiaPartialC()

◆ TestGetPartialComPartialC()

◆ TestGetPartialIPartialC()

◆ TestGetPartialSigmaPartialC()

◆ TestGetPartialVolumePartialC()

◆ TestPartialDeltaIfPartialTf()

◆ TestPartialDeltaIOverDeltaVPartialTf()

◆ TestPartialDeltaVfPartialTf()

◆ TestPartialDeltaVPartialC()

◆ TestPartialEqDeltaIfErPartialTf()

◆ TestPartials()

Member Data Documentation

◆ precomputed_partialGpartialC

◆ precomputed_partialIpartialC

◆ precomputed_partialSigmapartialC

◆ precomputed_partialSigmapartialI

◆ precomputed_partialUnitDensityMomentsPartialI

◆ precomputed_partialVpartialC