Description
Class for basic algebraic constraints (not to be confused with ChLink objects, which are complex kinematic constraints between rigid bodies in 3D, containing ChConstraint objects).
This is the base data for algebraic constraints. Child classes should implement at least Update(), RestoreReferences(), Get_Cn().
#include <ChGenericConstraint.h>
Public Member Functions  
bool  IsValid () 
Tells if the constraint data is currently valid. More...  
bool  IsDisabled () 
Tells if the constraint is currently turned on or off by the user.  
void  SetDisabled (bool mon) 
bool  IsActive () const 
Tells if the constraint is currently active, in general, that is tells if it must be included into the system solver or not. More...  
const ChVectorDynamic &  Get_C () const 
Returns the matrix of residuals (a column vector with Cn elements.  
virtual int  Get_Cn () 
Returns the number of equations in this constraints (the size of the C residual vector)  
void  Reset_Cn (int mCn) 
Changes the number of equations in this constraints (reset the size of the C residual vector).  
virtual bool  RestoreReferences (ChFunction *mroot) 
This may be overloaded by child classes. More...  
virtual bool  Update () 
Compute the residuals (vector 'C') of the constraint equations, where C=0 is for satisfied constraints. More...  
Protected Attributes  
bool  valid 
bool  disabled 
int  Cn 
constraints equations in this constraint  
ChVectorDynamic  C 
residual matrix  
Member Function Documentation
bool chrono::ChGenericConstraint::IsActive  (  )  const 
Tells if the constraint is currently active, in general, that is tells if it must be included into the system solver or not.
bool chrono::ChGenericConstraint::IsValid  (  ) 
Tells if the constraint data is currently valid.
Instead of implementing it, child classes may simply set valid=false (or true) depending on the result of their implementations of RestoreReference().

virtual 
This may be overloaded by child classes.
Argument should be the 'database' where the reference restoring takes place. Should return false if referencing was not possible. Should set valid=true/false depending on referencing success.
Reimplemented in chrono::ChGenericConstraint_Chf.

virtual 
Compute the residuals (vector 'C') of the constraint equations, where C=0 is for satisfied constraints.
Should return false if updating was not possible.
Reimplemented in chrono::ChGenericConstraint_Chf_VertDistance, chrono::ChGenericConstraint_Chf_HorDistance, chrono::ChGenericConstraint_Chf_Continuity, and chrono::ChGenericConstraint_Chf_ImposeVal.