Class: wsim.linearPMMachinePTO
==============================

Inheiritance Graph
--------------------------------------------------
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.. graphviz::

   digraph graph_for_linearPMMachinePTO {
      "handle" -> "wsim.powerTakeOff" -> "wsim.linearPMMachinePTO";
   }

Parent Class Properties and Methods
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handle
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Inheirited Properties
""""""""""""""""""""""""""""""""""""""""""""""""""

None

Inheirited Methods
""""""""""""""""""""""""""""""""""""""""""""""""""

* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* addlistener : *ADDLISTENER  Add listener for event.*
* delete : *DELETE   Delete a handle object.*
* eq : *== (EQ)   Test handle equality.*
* findobj : *FINDOBJ   Find objects matching specified conditions.*
* findprop : *FINDPROP   Find property of MATLAB handle object.*
* ge : *>= (GE)   Greater than or equal relation for handles.*
* gt : *> (GT)   Greater than relation for handles.*
* isvalid : *ISVALID   Test handle validity.*
* le : *<= (LE)   Less than or equal relation for handles.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* listener : *LISTENER  Add listener for event without binding the listener to the source object.*
* lt : *< (LT)   Less than relation for handles.*
* ne : *~= (NE)   Not equal relation for handles.*
* notify : *NOTIFY   Notify listeners of event.*
* notify : *NOTIFY   Notify listeners of event.*


wsim.powerTakeOff
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Inheirited Properties
""""""""""""""""""""""""""""""""""""""""""""""""""

* id
* loggingInfo
* loggingOn
* otherNode
* referenceNode
* uniqueLoggingNames


Inheirited Methods
""""""""""""""""""""""""""""""""""""""""""""""""""

* powerTakeOff : *wsim.powerTakeOff constructor*
* advanceStep : *advance to the next simulation time step*
* finish : *method called at end of wecSim simulation*
* forceAndMoment : *forceAndMoment should return the force and moment from a PTO*
* logData : *appends the internal variable data to the log*
* loggingSetup : *sets up data logging for a wsim.linearPowerTakeOff object*
* start : *initialise the pto simulation*


Properties
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* design
* initialInternalTimeStep
* maxInternalTimeStep
* simoptions


design
^^^^^^



initialInternalTimeStep
^^^^^^^^^^^^^^^^^^^^^^^



maxInternalTimeStep
^^^^^^^^^^^^^^^^^^^



simoptions
^^^^^^^^^^



Methods
-------
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* linearPMMachinePTO
* advanceStep
* forceAndMoment
* logData
* start


linearPMMachinePTO
^^^^^^^^^^^^^^^^^^

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Summary
""""""""""""""""""""

construct a wsim.linearPMMachinePTO object



Syntax
""""""""""""""""""""

.. code-block:: none

   lpto = wsim.linearPMMachinePTO (reference_node, other_node, axisNum)
   lpto = wsim.linearPMMachinePTO (..., 'Parameter', value)
  

Description
""""""""""""""""""""

.. code-block:: none

   wsim.linearPMMachinePTO is a class representing a linear
   power-take-off mechanism in a wave energy converter. It
   facilitates sending the correct forces to an MBDyn multibody
   simulation. wsim.linearPMMachinePTO applies forces between
   two MBDyn nodes based on their relative displacement. Forces
   are applied based on the relative displacement and velocity
   of the two nodes along axis 3 in the reference frame of the
   first node. It is assumed that the nodes motion is
   constrained appropriately by other MBDyn elements (e.g. 
  

Inputs
""""""""""""""""""""

reference_node
""""""""""""""

.. code-block:: none

   mbdyn.pre.structuralNode6dof object


other_node
""""""""""

.. code-block:: none

   mbdyn.pre.structuralNode6dof object


axisNum
"""""""

.. code-block:: none

   axis in the frame of the reference node. Forces
   will be applied to the node in a direction parallel to this
   axis.
   


design
""""""

.. code-block:: none

   


simoptions
""""""""""

.. code-block:: none

   


Additional arguments may be supplied as parameter-value pairs:


InitialDisplacementZero
"""""""""""""""""""""""

.. code-block:: none

   optional true/false flag
   indicating whether the intial relative displacement (along
   axis 3 of the reference node) in the global frame should
   be taken as the reference point for displacement during
   the simulation, i.e. the PTO starts with an initial
   displacement of zero for the purposes of force calulation,
   and future displacement is measured relative to this
   initial position. If false, the raw position is used
   instead. Default is true if not supplied.
   


Outputs
""""""""""""""""""""

lpto
""""

.. code-block:: none

   a wsim.linearPMMachinePTO



See Also
""""""""""""""""""""

.. code-block:: none



advanceStep
^^^^^^^^^^^

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Summary
""""""""""""""""""""

advance to the next simulation time step


Syntax
""""""""""""""""""""

.. code-block:: none

   advanceStep (pto)
  

Description
""""""""""""""""""""

.. code-block:: none

   wsim.linearPMMachinePTO.advanceStep is intended to be called
   when the simulation is ready to advance to the next time
   step. It is always called when the linearPMMachinePTO is used
   with the wsim.wecSim class to manage a simulation.
   wsim.linearPMMachinePTO.advanceStep log data to the
   wsim.logger object (internally it calls
   wsim.powerTakeOff.logData). It also recalculates the last
   values of the mahine simualtion at the current time step and
   advances the ODE simulation of the PM machine to the next
   time step, accepting the last values in to the simulation
   history.
  

Inputs
""""""""""""""""""""

pto
"""

.. code-block:: none

   wsim.powerTakeOff object


See Also
""""""""""""""""""""

.. code-block:: none



forceAndMoment
^^^^^^^^^^^^^^

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Summary
""""""""""""""""""""

forceAndMoment should return the force and moment from a PTO


Syntax
""""""""""""""""""""

.. code-block:: none

   forceAndMoment (pto)
  

Description
""""""""""""""""""""

.. code-block:: none

   forceAndMoment is intended to be reimplemented by child
   classes and should return the forces and moments from the PTO
   on the two attached nodes as a (6 x 2) matrix. The
   implemetation here in wsim.powerTakeOff does nothing.
  

Inputs
""""""""""""""""""""

pto
"""

.. code-block:: none

   wsim.powerTakeOff object



logData
^^^^^^^

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Summary
""""""""""""""""""""

appends the internal variable data to the log


Syntax
""""""""""""""""""""

.. code-block:: none

   logData (pto)
  

Description
""""""""""""""""""""

.. code-block:: none

   logData appends the last recorded values of the internal
   variables to a logger object.
  

Inputs
""""""""""""""""""""

pto
"""

.. code-block:: none

   wsim.linearPMMachinePTO object


See Also
""""""""""""""""""""

.. code-block:: none

             wsim.linearPMMachinePTO.advanceStep
  
 


start
^^^^^

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Summary
""""""""""""""""""""

initialise the pto simulation