NWTC required functions necessary to hook MAP into FAST. More...

#include "map.h"
#include "maperror.h"
#include "MAP_Types.h"
#include "mapapi.h"
#include "lineroutines.h"
#include "freedata.h"
#include "mapinit.h"
#include "outputstream.h"
#include "numeric.h"
#include "jacobian.h"
#include "residual.h"

Include dependency graph for mapapi.c:

Functions
MAP_EXTERNCALL void	map_initialize_msqs_base (MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_ContinuousStateType_t x_type, MAP_ConstraintStateType_t z_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_InitOutputType_t *io_type)
	Initalizes all MAP base types (including some internal state) More...

MAP_EXTERNCALL void	map_init (MAP_InitInputType_t init_type, MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_ContinuousStateType_t x_type, MAP_DiscreteStateType_t xd_type, MAP_ConstraintStateType_t z_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_InitOutputType_t io_type, MAP_ERROR_CODE ierr, char *map_msg)
	Initializes the MAP model and allocates memory. More...

MAP_EXTERNCALL void	map_update_states (float t, int interval, MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_ContinuousStateType_t x_type, MAP_DiscreteStateType_t xd_type, MAP_ConstraintStateType_t z_type, MAP_OtherStateType_t other_type, MAP_ERROR_CODE ierr, char map_msg)
	Solves the statics problem for the MSQS system and should be called at each time step or vessel displacement. More...

MAP_EXTERNCALL void	map_calc_output (float t, MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_ContinuousStateType_t x_type, MAP_DiscreteStateType_t xd_type, MAP_ConstraintStateType_t z_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_ERROR_CODE ierr, char *map_msg)
	Retrieves the values after the statics problem is solved. More...

MAP_EXTERNCALL void	map_end (MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_ContinuousStateType_t x_type, MAP_DiscreteStateType_t xd_type, MAP_ConstraintStateType_t z_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_ERROR_CODE ierr, char *map_msg)
	Deallocates all memory. More...

MAP_EXTERNCALL void	map_offset_vessel (MAP_OtherStateType_t other_type, MAP_InputType_t u_type, double x, double y, double z, double phi, double the, double psi, char map_msg, MAP_ERROR_CODE ierr)
	call this in python: offset_vessel().argtypes = [MapData_Type, MapInput_Type, c_char_p, POINTER(c_int)] angles are radians More...

MAP_EXTERNCALL double *	map_f_op (MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_ConstraintStateType_t z_type, MAP_ERROR_CODE ierr, char *map_msg)
	lib.map_f_op.argtypes = [MapInput_Type, MapData_Type, MapOutnput_Type, c_double, c_char_p, POINTER(c_int)]

MAP_EXTERNCALL void	map_free_f_op (double *array)
	lib.map_free_f_op.argtypes = [POINTER(c_double)]

MAP_EXTERNCALL double **	map_linearize_matrix (MAP_InputType_t u_type, MAP_ParameterType_t p_type, MAP_OtherStateType_t other_type, MAP_OutputType_t y_type, MAP_ConstraintStateType_t z_type, double epsilon, MAP_ERROR_CODE ierr, char *map_msg)
	lib.linearize_matrix.argtypes = [MapInput_Type, MapData_Type, MapOutnput_Type, c_double, c_char_p, POINTER(c_int)]

MAP_EXTERNCALL void	map_free_linearize_matrix (double **array)
	lib.py_free_linearize_matrix.argtypes = [POINTER(POINTER(c_double))]

MAP_EXTERNCALL double *	map_plot_x_array (MAP_OtherStateType_t other_type, int i, int num_points, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double *	map_plot_y_array (MAP_OtherStateType_t other_type, int i, int num_points, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double *	map_plot_z_array (MAP_OtherStateType_t other_type, int i, int num_points, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL void	map_plot_array_free (double *array)

MAP_EXTERNCALL double	map_residual_function_length (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double	map_residual_function_height (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double	map_jacobian_dxdh (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double	map_jacobian_dxdv (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double	map_jacobian_dzdh (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL double	map_jacobian_dzdv (MAP_OtherStateType_t other_type, int i, char map_msg, MAP_ERROR_CODE *ierr)

MAP_EXTERNCALL void	map_get_fairlead_force_2d (double H, double V, MAP_OtherStateType_t other_type, int index, char map_msg, MAP_ERROR_CODE *ierr)
	Returns vertical and horizontal fairlead force along line plane. More...

MAP_EXTERNCALL void	map_get_fairlead_force_3d (double fx, double fy, double fz, MAP_OtherStateType_t other_type, int index, char map_msg, MAP_ERROR_CODE ierr)
	Returns X, Y, and Z fairlead force in global reference frame. More...

MAP_EXTERNCALL int	map_size_lines (MAP_OtherStateType_t other_type, MAP_ERROR_CODE ierr, char *map_msg)

MAP_EXTERNCALL void	map_set_summary_file_name (MAP_InitInputType_t init_type, char map_msg, MAP_ERROR_CODE *ierr)
	Set the name out the MAP summary output file. More...

MAP_EXTERNCALL void	map_get_header_string (int n, char str_array, MAP_OtherStateType_t other_type)
	Obtains the variable name array corresponding to the outputs selected in the MAP input file. More...

MAP_EXTERNCALL void	map_get_unit_string (int n, char str_array, MAP_OtherStateType_t other_type)
	Obtains the units of the outputs passed back to the calling program. More...

MAP_EXTERNCALL void	set_init_to_null (MAP_InitInputType_t init_type, char map_msg, MAP_ERROR_CODE *ierr)
	Fortran binding routine SUBROUTINE MAP_set_initinput_to_null(interf,msg,err) bind(C,name='set_init_to_null')

MAP_EXTERNCALL void	map_set_sea_depth (MAP_ParameterType_t *p_type, const double depth)
	Set the water depth. More...

MAP_EXTERNCALL void	map_set_sea_density (MAP_ParameterType_t *p_type, const double rho)
	Set the water density. More...

MAP_EXTERNCALL void	map_set_gravity (MAP_ParameterType_t *p_type, const double gravity)
	Set the gravitational constant. More...

MAP_EXTERNCALL void	map_add_cable_library_input_text (MAP_InitInputType_t *init_type)

MAP_EXTERNCALL void	map_add_node_input_text (MAP_InitInputType_t *init_type)

MAP_EXTERNCALL void	map_add_line_input_text (MAP_InitInputType_t *init_type)

MAP_EXTERNCALL void	map_add_options_input_text (MAP_InitInputType_t *init_type)

MAP_EXTERNCALL InitializationData *	MAP_InitInput_Create (char map_msg, MAP_ERROR_CODE ierr)
	Allocate InitializationData. More...

MAP_EXTERNCALL MAP_InitInputType_t *	map_create_init_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_InitInputType_t and InitializationData. More...

MAP_EXTERNCALL Domain *	MAP_OtherState_Create (char map_msg, MAP_ERROR_CODE ierr)
	Allocate Domain. More...

MAP_EXTERNCALL MAP_OtherStateType_t *	map_create_other_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_OtherStateType_t and Domain. More...

MAP_EXTERNCALL MAP_InitOutputType_t *	map_create_initout_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_InitOutputType_t. More...

MAP_EXTERNCALL MAP_InputType_t *	map_create_input_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_InputType_t. More...

MAP_EXTERNCALL MAP_ParameterType_t *	map_create_parameter_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_ParameterType_t. More...

MAP_EXTERNCALL MAP_ConstraintStateType_t *	map_create_constraint_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_ConstraintType_t. More...

MAP_EXTERNCALL MAP_OutputType_t *	map_create_output_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_OutputType_t. More...

MAP_EXTERNCALL MAP_ContinuousStateType_t *	map_create_continuous_type (char map_msg, MAP_ERROR_CODE ierr)
	Allocate MAP_ContinuousStateType_t. More...

MAP_EXTERNCALL int	free_init_data (InitializationData init_data, char map_msg, MAP_ERROR_CODE *ierr)
	Deallocates the memory space for the init structure. More...

Detailed Description

NWTC required functions necessary to hook MAP into FAST.

These functions provide the binding to solve constraints for subsequent time-steps.

Function Documentation

◆ free_init_data()

MAP_EXTERNCALL int free_init_data	(	InitializationData *	init,
		char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Deallocates the memory space for the init structure.

Should be called immediately after map_init()

Parameters

init	MAP-native initialization data structure. This is distinct from the FAST-framework data structure
map_msg	error string
ierr	error code

Returns: MAP_SAFE if it completes successfully

See also: map_init()

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◆ map_calc_output()

MAP_EXTERNCALL void map_calc_output	(	float	t,
		MAP_InputType_t *	u_type,
		MAP_ParameterType_t *	p_type,
		MAP_ContinuousStateType_t *	x_type,
		MAP_DiscreteStateType_t *	xd_type,
		MAP_ConstraintStateType_t *	z_type,
		MAP_OtherStateType_t *	other_type,
		MAP_OutputType_t *	y_type,
		MAP_ERROR_CODE *	ierr,
		char *	map_msg
	)

Retrieves the values after the statics problem is solved.

This function should be called immediately after map_update_states. Can be called multiple times, but must be called between map_init() and map_end()

Parameters

t	current (global) time
u_type	input type, F2C FAST-native derived type.
p_type	parameter type, F2C FAST-native derived type
x_type	continuous-state type, F2C FAST-native derived type
none	void type. It exists because MAP does not use discrete types (it would fill this place otherwise)
z_type	constraint-state type, F2C FAST-native derived tpe
other_type	other-state type, F2C FAST-native derived type. This is core structure that houses all internal MAP states that cannot be mapped to Fortran
y_type	output type, F2C FAST-native derived type
ierr	error code
map_msg	error string

See also: map_update_states()

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◆ map_create_constraint_type()

MAP_EXTERNCALL MAP_ConstraintStateType_t* map_create_constraint_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_ConstraintType_t.

Called to allocate memory for the constraint type. Constraints are variables solved through an algebraic equation. This is fairlead end forces (H and V) and node positions. This function is a necessary call for C and python, but can be ignored for Fortran if the MAP template is followed (that is, ISO C Binding is followed in the mapping of Fortran type and C structures).

Parameters

map_msg,error	message
ierr,error	code

Returns: constraint type (equivalent C binding struct)

◆ map_create_continuous_type()

MAP_EXTERNCALL MAP_ContinuousStateType_t* map_create_continuous_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_ContinuousStateType_t.

Called to allocate memory for the coninuous type. Not currently used, but it still is required to be allocated for FAST consistentcy.

Parameters

map_msg,error	message
ierr,error	code

Returns: continuous type (equivalent C binding struct)

◆ map_create_init_type()

MAP_EXTERNCALL MAP_InitInputType_t* map_create_init_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_InitInputType_t and InitializationData.

Called to allocate memory for the initialzation data for both the Fortran derived data and internal state data. Following sucessful allocation, initialize_init_type_to_null and initialize_init_data_to_null are both called to nullify data. If not called, memory errors results. This should the first function called when interacting with MAP. This is a necessary function for interaction with python and C based programs

Parameters

map_msg,error	message
ierr,error	code

Returns: initialization input type (equivalent C binding struct)

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◆ map_create_initout_type()

MAP_EXTERNCALL MAP_InitOutputType_t* map_create_initout_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_InitOutputType_t.

Called to allocate memory for the initialization output type. The only obligation of this struct is to store the program version, necessary for FAST. This function is a necessary call for C and python, but can be ignored for Fortran if the MAP template is followed (that is, ISO C Binding is followed in the mapping of Fortran type and C structures).

Parameters

map_msg,error	message
ierr,error	code

Returns: initialization output type (equivalent C binding struct)

◆ map_create_input_type()

MAP_EXTERNCALL MAP_InputType_t* map_create_input_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_InputType_t.

Called to allocate memory for the input type. The program inputs are the fairlead displacement due to the motion of the vessel the cable are attached to. This function is a necessary call for C and python, but can be ignored for Fortran if the MAP template is followed (that is, ISO C Binding is followed in the mapping of Fortran type and C structures).

Parameters

map_msg,error	message
ierr,error	code

Returns: input type (equivalent C binding struct)

◆ map_create_other_type()

MAP_EXTERNCALL MAP_OtherStateType_t* map_create_other_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_OtherStateType_t and Domain.

Called to allocate memory for the other states for both the Fortran derived data and internal state data. This is a necessary function for interaction with python and C based programs. The

Parameters

map_msg,error	message
ierr,error	code

Returns: other state type (equivalent C binding struct)

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◆ map_create_output_type()

MAP_EXTERNCALL MAP_OutputType_t* map_create_output_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_OutputType_t.

Called to allocate memory for the output type. IMPORTANT: this is different from the OutList. Output types are forces at the line fairlead only for lines connecting to the vessel. This function is a necessary call for C and python, but can be ignored for Fortran if the MAP template is followed (that is, ISO C Binding is followed in the mapping of Fortran type and C structures).

Parameters

map_msg,error	message
ierr,error	code

Returns: output type (equivalent C binding struct)

◆ map_create_parameter_type()

MAP_EXTERNCALL MAP_ParameterType_t* map_create_parameter_type	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate MAP_ParameterType_t.

Called to allocate memory for the parameter type. Parameters are time-invariant constants, such as gravitational constant. This function is a necessary call for C and python, but can be ignored for Fortran if the MAP template is followed (that is, ISO C Binding is followed in the mapping of Fortran type and C structures).

Parameters

map_msg,error	message
ierr,error	code

Returns: parameter type (equivalent C binding struct)

◆ map_end()

MAP_EXTERNCALL void map_end	(	MAP_InputType_t *	u_type,
		MAP_ParameterType_t *	p_type,
		MAP_ContinuousStateType_t *	x_type,
		MAP_DiscreteStateType_t *	xd_type,
		MAP_ConstraintStateType_t *	z_type,
		MAP_OtherStateType_t *	other_type,
		MAP_OutputType_t *	y_type,
		MAP_ERROR_CODE *	ierr,
		char *	map_msg
	)

Deallocates all memory.

Must be called after map_init(). This is called once.

Parameters

u_type	input type, F2C FAST-native derived type.
p_type	parameter type, F2C FAST-native derived type
x_type	continuous-state type, F2C FAST-native derived type
none	void type. It exists because MAP does not use discrete types (it would fill this place otherwise)
z_type	constraint-state type, F2C FAST-native derived tpe
other_type	other-state type, F2C FAST-native derived type. This is core structure that houses all internal MAP states that cannot be mapped to Fortran
y_type	output type, F2C FAST-native derived type
ierr	error code
map_msg	error string

See also: map_update_states()

◆ map_get_fairlead_force_2d()

MAP_EXTERNCALL void map_get_fairlead_force_2d	(	double *	H,
		double *	V,
		MAP_OtherStateType_t *	other_type,
		int	index,
		char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Returns vertical and horizontal fairlead force along line plane.

Parameters

H,reference	to horizontal fairlead force magnitude
V,reference	to vertical fairlead force magnitude
other_type,other	state type fortran derived
index,line	number we are requesting the data for
map_msg,error	message
ierr,error	code

See also

◆ map_get_fairlead_force_3d()

MAP_EXTERNCALL void map_get_fairlead_force_3d	(	double *	fx,
		double *	fy,
		double *	fz,
		MAP_OtherStateType_t *	other_type,
		int	index,
		char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Returns X, Y, and Z fairlead force in global reference frame.

Parameters

fx,reference	to horizontal X fairlead force in global frame
fy,reference	to horizontal Y fairlead force in global frame
fz,reference	to vertical Z fairlead force in global frame
other_type,other	state type fortran derived
index,line	number we are requesting the data for
map_msg,error	message
ierr,error	code

See also

◆ map_get_header_string()

MAP_EXTERNCALL void map_get_header_string	(	int *	n,
		char **	str_array,
		MAP_OtherStateType_t *	other_type
	)

Obtains the variable name array corresponding to the outputs selected in the MAP input file.

For example, str_array can be:

       X[2]     H[1]     X[6]     H[3]     X[10]    H[5]     X[14]    H[7]

Parameters

n	number of header blocks. Should be proportional to the number of itms being output to the FAST output file
str_array	the string being output.
other_type	Fortran other state derived type

Example Fortran usage:

! Interface block declaration:
INTERFACE      
   SUBROUTINE mapextern_map_get_header_string(fc_int, fc_string, fc_other) BIND(C,name='map_get_header_string')   
     IMPORT                                 
     IMPLICIT NONE                          
     INTEGER(KIND=C_INT) :: fc_int          
     TYPE( MAP_OtherStateType_C ) fc_other                                                 
     TYPE(C_PTR), DIMENSION(FC_int) :: fc_string
   END SUBROUTINE mapextern_map_get_header_string
END INTERFACE                                                 
  ...
! access the function using this subroutine call: 
CALL mapextern_map_get_header_string(num_header_str, hdr_str_ptrs, other%C_obj)

Todo:: this should raise and error when count!=n

◆ map_get_unit_string()

MAP_EXTERNCALL void map_get_unit_string	(	int *	n,
		char **	str_array,
		MAP_OtherStateType_t *	other_type
	)

Obtains the units of the outputs passed back to the calling program.

str_array can be:

       [m]     [N]     [m]     [N]     [m]     [N]     [m]     [N]

Parameters

n	number of header blocks. Should be proportional to the number of itms being output to the FAST output file
str_array	the string being output.
other_type	Fortran other state derived type

Example Fortran usage:

! Interface block declaration:
INTERFACE
   SUBROUTINE mapextern_map_get_unit_string(fc_int, fc_string, fc_other) BIND(C,name='map_get_unit_string')          
     IMPORT                                     
     IMPLICIT NONE                              
     INTEGER(KIND=C_INT) :: fc_int              
     TYPE(MAP_OtherStateType_C) fc_other                                                 
     TYPE(C_PTR), DIMENSION(FC_int) :: fc_string
   END SUBROUTINE mapextern_map_get_unit_string        
END INTERFACE                                                 
  ...
! access the function using this subroutine call: 
CALL mapextern_map_get_header_string(num_header_str, unit_str_ptrs, other%C_obj)

Todo:: this should raise and error when count!=n

◆ map_init()

MAP_EXTERNCALL void map_init	(	MAP_InitInputType_t *	init_type,
		MAP_InputType_t *	u_type,
		MAP_ParameterType_t *	p_type,
		MAP_ContinuousStateType_t *	x_type,
		MAP_DiscreteStateType_t *	xd_type,
		MAP_ConstraintStateType_t *	z_type,
		MAP_OtherStateType_t *	other_type,
		MAP_OutputType_t *	y_type,
		MAP_InitOutputType_t *	ioType,
		MAP_ERROR_CODE *	ierr,
		char *	map_msg
	)

Initializes the MAP model and allocates memory.

Inconsistencies with the input file is reported here. This should only be called once.

Parameters

init_type	initialization type, F2C FAST-native derived type
u_type	input type, F2C FAST-native derived type.
p_type	parameter type, F2C FAST-native derived type
x_type	continuous-state type, F2C FAST-native derived type
none	void type. It exists because MAP does not use discrete types (it would fill this place otherwise)
z_type	constraint-state type, F2C FAST-native derived tpe
other_type	other-state type, F2C FAST-native derived type. This is core structure that houses all internal MAP states that cannot be mapped to Fortran
y_type	output type, F2C FAST-native derived type
ioType	init-output types, F2C FAST-native derived type
ierr	error code
map_msg	error string

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◆ map_initialize_msqs_base()

MAP_EXTERNCALL void map_initialize_msqs_base	(	MAP_InputType_t *	u_type,
		MAP_ParameterType_t *	p_type,
		MAP_ContinuousStateType_t *	x_type,
		MAP_ConstraintStateType_t *	z_type,
		MAP_OtherStateType_t *	other_type,
		MAP_OutputType_t *	y_type,
		MAP_InitOutputType_t *	io_type
	)

Initalizes all MAP base types (including some internal state)

The idea is to set variables to zero and null to prevent seg-faults in the case of early program termination before initialization (MAP_Init) is fully complete. MAP_Init

Parameters

el,opaque object used in simclist

See also: map_init()

Returns: Size of CableLibrary structure

◆ MAP_InitInput_Create()

MAP_EXTERNCALL InitializationData* MAP_InitInput_Create	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate InitializationData.

Called by map_create_init_type to allocate memory for the iinitialization data type. The reason why a layer is added to the initialization data is due to Fortran interactions. It is straighforward to pass 1D character arrays between Fortran and C instead of 2D arrays. 2D arrays would make more sense since multiple lines from the MAP input file can be packed in one step. MAP_InitInputType_t in responsible for the 1D arrays. which are passed from Fortran to C. MAP then takes the 1D aray and packs it into InitializationData. This is used to subsequently initialize the model. Structure is free'd by calling MAP_InitInput_Delete.

Parameters

map_msg,error	message
ierr,error	code

Returns: instance of the packed initialization strings (different from the FAST-required derived types)

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◆ map_offset_vessel()

MAP_EXTERNCALL void map_offset_vessel	(	MAP_OtherStateType_t *	other_type,
		MAP_InputType_t *	u_type,
		double	x,
		double	y,
		double	z,
		double	phi,
		double	the,
		double	psi,
		char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

call this in python: offset_vessel().argtypes = [MapData_Type, MapInput_Type, c_char_p, POINTER(c_int)] angles are radians

lib.map_offset_vessel.argtypes = [MapData_Type, MapInput_Type, c_double, c_double, c_double, c_double, c_double, c_double, c_char_p, POINTER(c_int)]

Angles are in degrees. This routine converts angles from deg to rad Per Fossen (Fossen, Thor I. Guidance and control of ocean vehicles. Vol. 199. No. 4. New York: Wiley, 1994), this matrix converts vector from the body frame to the global reference frame:

R = | cos(ψ)*cos(θ) cos(ψ)*sin(θ)*sin(φ) − sin(ψ)*cos(φ) cos(ψ)*sin(θ)*cos(φ) + sin(ψ)*sin(φ) | | sin(ψ)*cos(θ) sin(ψ)*sin(θ)*sin(φ) + cos(ψ)*cos(φ) sin(ψ)*sin(θ)*cos(φ) − cos(ψ)*sin(φ) | | −sin(θ) cos(θ)*sin(φ) cos(θ)*cos(φ) |

We need to invoke this procedure to move the vessel nodes with body rotations factored:

◆ MAP_OtherState_Create()

MAP_EXTERNCALL Domain* MAP_OtherState_Create	(	char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Allocate Domain.

Called by map_create_other_type to allocate memory for the internal state (model) data type. 'Other States', as FAST calls them, are states not fitting a regular role as a parameter, constraint, input, ect. Other states contain information on the line connectivity matrix, how reference to poperties for each line, buoyancy properties of the nodes, ect. Deallocated using interaction with python and C based programs. Structure is free'd by calling MAP_OtherState_Delete.

Parameters

map_msg,error	message
ierr,error	code

See also: map_create_other_type()

Returns: instance of the interal model struct (different from the FAST-required derived types)

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◆ map_set_gravity()

MAP_EXTERNCALL void map_set_gravity	(	MAP_ParameterType_t *	p_type,
		const double	gravity
	)

Set the gravitational constant.

Should be called before map_init()

Parameters

p_type	paramter type, native C struct MAP_ParameterType_t
grtavity	gravitational acceleration [m/s^2]

Example Fortran usage:

INTERFACE                                                               
   SUBROUTINE MAP_map_set_gravity(interf, fc_val) BIND(C,name='map_set_gravity')
     IMPORT                                                         
     IMPLICIT NONE                                                  
     TYPE(MAP_ParameterType_C) interf                               
     REAL(C_DOUBLE), VALUE :: fc_val                                
   END SUBROUTINE MAP_map_set_gravity                                   
END INTERFACE                                                       
  ...
! access the function using this subroutine call: 
CALL mapextern_map_set_gravity(p%C_obj, g)

◆ map_set_sea_density()

MAP_EXTERNCALL void map_set_sea_density	(	MAP_ParameterType_t *	p_type,
		const double	rho
	)

Set the water density.

Should be called before map_init()

Parameters

p_type	paramter type, native C struct MAP_ParameterType_t
rho	water density [kg/m^3]

Example Fortran usage:

INTERFACE                                                                         
   SUBROUTINE mapextern_set_density(interf, fc_val) BIND(C,name='map_set_sea_density') 
     IMPORT                                            
     IMPLICIT NONE                                     
     TYPE(MAP_ParameterType_C) interf                
     REAL(C_DOUBLE), VALUE :: fc_val                      
   END SUBROUTINE mapextern_set_density                      
END INTERFACE                                          
  ...
! access the function using this subroutine call: 
CALL mapextern_set_density(p%C_obj, rho)

◆ map_set_sea_depth()

MAP_EXTERNCALL void map_set_sea_depth	(	MAP_ParameterType_t *	p_type,
		const double	depth
	)

Set the water depth.

Should be called before map_init()

Parameters

p_type	paramter type, native C struct MAP_ParameterType_t
depth	water depth [m]

Example Fortran usage:

INTERFACE                                                                
   SUBROUTINE mapextern_set_depth(interf, fc_val) BIND(C,name='map_set_sea_depth')  
     IMPORT                            
     IMPLICIT NONE                     
     TYPE(MAP_ParameterType_C) interf
     REAL(C_DOUBLE), VALUE :: fc_val  
   END SUBROUTINE mapextern_set_depth    
END INTERFACE                      
  ...
! access the function using this subroutine call: 
CALL mapextern_set_depth(p%C_obj, depth)

◆ map_set_summary_file_name()

MAP_EXTERNCALL void map_set_summary_file_name	(	MAP_InitInputType_t *	init_type,
		char *	map_msg,
		MAP_ERROR_CODE *	ierr
	)

Set the name out the MAP summary output file.

Does not need to be called; the default summary file name is 'outlist.map.sum'.

Parameters

init_type	initalization type, native C struct InitializationData_t
map_msg	MAP error message
ierr	MAP error code

Example Fortran usage:

! Interface block declaration:
INTERFACE 
   SUBROUTINE mapextern_map_set_summary_file_name(fc_init, fc_char, fc_int) BIND(C,name='map_set_summary_file_name')
     IMPORT                                    
     IMPLICIT NONE                             
     TYPE(MAP_InitInputType_C) fc_init        
     CHARACTER(KIND=C_CHAR), DIMENSION(*) :: fc_char
     INTEGER(KIND=C_INT) :: fc_int            
   END SUBROUTINE mapextern_map_set_summary_file_name
END INTERFACE
  ...
! access the function using this subroutine call: 
CALL mapextern_map_set_summary_file_name(InitInp%C_obj, ErrMsg, ErrStat)

Todo:: : need to free summary_file_name. This is done in delete_all_init_data(...), should be called in Fortran routines

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◆ map_update_states()

MAP_EXTERNCALL void map_update_states	(	float	t,
		int	interval,
		MAP_InputType_t *	u_type,
		MAP_ParameterType_t *	p_type,
		MAP_ContinuousStateType_t *	x_type,
		MAP_DiscreteStateType_t *	xd_type,
		MAP_ConstraintStateType_t *	z_type,
		MAP_OtherStateType_t *	other_type,
		MAP_ERROR_CODE *	ierr,
		char *	map_msg
	)

Solves the statics problem for the MSQS system and should be called at each time step or vessel displacement.

Can be called multiple times, but must be called between map_init() and map_end() If the reference to u_type changes, then we have to update the location MAP internal states are pointing to. This is accomplished in the following code. The issue here is when this is called in Fortran:

CALL MAP_CopyInput(u(1), u_interp, MESH_NEWCOPY, ErrStat, ErrMsg)

u_interp is passed into into the argument for map_update_states(); however, the internal states are not pointing to data in u_interp. We address this below. Note that the initial reference for point_iter is set in set_node_list()

Parameters

t	current (global) time
interval	coupling interval
u_type	input type, F2C FAST-native derived type.
p_type	parameter type, F2C FAST-native derived type
x_type	continuous-state type, F2C FAST-native derived type
none	void type. It exists because MAP does not use discrete types (it would fill this place otherwise)
z_type	constraint-state type, F2C FAST-native derived tpe
other_type	other-state type, F2C FAST-native derived type. This is core structure that houses all internal MAP states that cannot be mapped to Fortran
ierr	error code
map_msg	error string

See also: map_calc_output()

Functions

Detailed Description

Function Documentation

◆ free_init_data()

◆ map_calc_output()

◆ map_create_constraint_type()

◆ map_create_continuous_type()

◆ map_create_init_type()

◆ map_create_initout_type()

◆ map_create_input_type()

◆ map_create_other_type()

◆ map_create_output_type()

◆ map_create_parameter_type()

◆ map_end()

◆ map_get_fairlead_force_2d()

◆ map_get_fairlead_force_3d()

◆ map_get_header_string()

◆ map_get_unit_string()

◆ map_init()

◆ map_initialize_msqs_base()

◆ MAP_InitInput_Create()

◆ map_offset_vessel()

◆ MAP_OtherState_Create()

◆ map_set_gravity()

◆ map_set_sea_density()

◆ map_set_sea_depth()

◆ map_set_summary_file_name()

◆ map_update_states()