chrono::ChFunctionRotation_axis Class Reference

## Description

A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s).

By default, the axis is the Z axis, and rotation is constant zero rotation.

#include <ChFunctionRotation_axis.h>

Inheritance diagram for chrono::ChFunctionRotation_axis:
Collaboration diagram for chrono::ChFunctionRotation_axis:

## Public Member Functions

ChFunctionRotation_axis (const ChFunctionRotation_axis &other)

virtual ChFunctionRotation_axisClone () const override
"Virtual" copy constructor.

void SetFunctionAngle (std::shared_ptr< ChFunction > mx)
Set the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

std::shared_ptr< ChFunctionGetFunctionAngle ()
Get the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

void SetAxis (const ChVector<> &mv)
Set the fixed axis of rotation. It must be unit length. Default Z vector.

ChVector GetAxis ()
Get the fixed axis of rotation.

virtual ChQuaternion Get_q (double s) const override
Return the rotation as a quaternion, function of s, as q=f(s).

virtual ChVector Get_w_loc (double s) const override
Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame.

virtual ChVector Get_a_loc (double s) const override
Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame.

virtual void ArchiveOUT (ChArchiveOut &marchive) override
Method to allow serialization of transient data to archives.

virtual void ArchiveIN (ChArchiveIn &marchive) override
Method to allow de-serialization of transient data from archives.

Public Member Functions inherited from chrono::ChFunctionRotation
ChFunctionRotation (const ChFunctionRotation &other)

virtual void Estimate_s_domain (double &smin, double &smax) const
Return an estimate of the domain of the function argument. More...

virtual void Update (const double t)
Update could be implemented by children classes, ex. to launch callbacks.

The documentation for this class was generated from the following files:
• /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_axis.h
• /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_axis.cpp