Description

6-dof locked joint, with the link-lock formulation.

This specialization allows for specification of prescribed motion in the direction of any of the 6 directions (3 translations and 3 rotations).

#include <ChLinkLock.h>

Inheritance diagram for chrono::ChLinkLockLock:
Collaboration diagram for chrono::ChLinkLockLock:

Public Member Functions

 ChLinkLockLock (const ChLinkLockLock &other)
 
virtual ChLinkLockLockClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetMotion_X (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_Y (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_Z (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_ang (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_ang2 (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_ang3 (std::shared_ptr< ChFunction > m_funct)
 
void SetMotion_axis (Vector m_axis)
 
void Set_angleset (AngleSet mset)
 
std::shared_ptr< ChFunctionGetMotion_X () const
 
std::shared_ptr< ChFunctionGetMotion_Y () const
 
std::shared_ptr< ChFunctionGetMotion_Z () const
 
std::shared_ptr< ChFunctionGetMotion_ang () const
 
std::shared_ptr< ChFunctionGetMotion_ang2 () const
 
std::shared_ptr< ChFunctionGetMotion_ang3 () const
 
const ChVectorGetMotion_axis () const
 
AngleSet Get_angleset () const
 
const CoordsysGetRelC () const
 Get constraint violations in pos/rot coordinates.
 
const CoordsysGetRelC_dt () const
 Get first time derivative of constraint violations in pos/rot coordinates.
 
const CoordsysGetRelC_dtdt () const
 Get second time derivative of constraint violations in pos/rot coordinates.
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow deserialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem()
 
virtual void SetSystem (ChSystem *m_system)
 Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.
 
void AddAsset (std::shared_ptr< ChAsset > masset)
 Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset)
 
std::vector< std::shared_ptr< ChAsset > > & GetAssets ()
 Access to the list of optional assets.
 
std::shared_ptr< ChAssetGetAssetN (unsigned int num)
 Access the Nth asset in the list of optional assets.
 
virtual unsigned int GetAssetsFrameNclones ()
 Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More...
 
virtual bool GetCollide () const
 Tell if the object is subject to collision. More...
 
virtual void SyncCollisionModels ()
 If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item. More...
 
virtual void AddCollisionModelsToSystem ()
 If this physical item contains one or more collision models, add them to the system's collision engine. More...
 
virtual void RemoveCollisionModelsFromSystem ()
 If this physical item contains one or more collision models, remove them from the system's collision engine. More...
 
virtual void GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
 Get the entire AABB axis-aligned bounding box of the object. More...
 
virtual void GetCenter (ChVector<> &mcenter)
 Get a symbolic 'center' of the object. More...
 
virtual void StreamINstate (ChStreamInBinary &mstream)
 Method to deserialize only the state (position, speed) Must be implemented by child classes. More...
 
virtual void StreamOUTstate (ChStreamOutBinary &mstream)
 Method to serialize only the state (position, speed) Must be implemented by child classes. More...
 
virtual void Setup ()
 This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh)
 
virtual void SetNoSpeedNoAcceleration ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual int GetDOF ()
 Get the number of scalar coordinates (variables), if any, in this item. More...
 
virtual int GetDOF_w ()
 Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More...
 
unsigned int GetOffset_x ()
 Get offset in the state vector (position part)
 
unsigned int GetOffset_w ()
 Get offset in the state vector (speed part)
 
unsigned int GetOffset_L ()
 Get offset in the lagrangian multipliers.
 
void SetOffset_x (const unsigned int moff)
 Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_w (const unsigned int moff)
 Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.
 
void SetOffset_L (const unsigned int moff)
 Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.
 
virtual void IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
 From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...
 
virtual void IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T)
 From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...
 
virtual void IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)
 From item's state acceleration to global acceleration vector. More...
 
virtual void IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
 From global acceleration vector to item's state acceleration. More...
 
virtual void IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
 Computes x_new = x + Dt , using vectors at specified offsets. More...
 
virtual void IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
 Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More...
 
virtual void VariablesFbReset ()
 Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.
 
virtual void VariablesFbLoadForces (double factor=1)
 Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.
 
virtual void VariablesQbLoadSpeed ()
 Initialize the 'qb' part of the ChVariables with the current value of speeds. More...
 
virtual void VariablesFbIncrementMq ()
 Adds M*q (masses multiplied current 'qb') to Fb, ex. More...
 
virtual void VariablesQbSetSpeed (double step=0)
 Fetches the item speed (ex. More...
 
virtual void VariablesQbIncrementPosition (double step)
 Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...
 
virtual void InjectVariables (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. More...
 
virtual void KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
 Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Gets the numerical identifier of the object.
 
void SetIdentifier (int id)
 Sets the numerical identifier of the object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
const char * GetName () const
 Gets the name of the object as C Ascii null-terminated string -for reading only!
 
void SetName (const char myname[])
 Sets the name of this object, as ascii string.
 
std::string GetNameString () const
 Gets the name of the object as C Ascii null-terminated string.
 
void SetNameString (const std::string &myname)
 Sets the name of this object, as std::string.
 
void MFlagsSetAllOFF (int &mflag)
 
void MFlagsSetAllON (int &mflag)
 
void MFlagSetON (int &mflag, int mask)
 
void MFlagSetOFF (int &mflag, int mask)
 
int MFlagGet (int &mflag, int mask)
 
virtual std::string & ArchiveContainerName ()
 

Protected Member Functions

virtual void UpdateTime (double mytime) override
 Inherits, and also updates motion laws: deltaC, deltaC_dt, deltaC_dtdt.
 
virtual void UpdateState () override
 Given current time and body state, computes the constraint differentiation to get the the state matrices Cq1, Cq2, Qc, Ct , and also C, C_dt, C_dtd. More...
 

Protected Attributes

std::shared_ptr< ChFunctionmotion_X
 user imposed motion for X coord, marker relative
 
std::shared_ptr< ChFunctionmotion_Y
 user imposed motion for Y coord, marker relative
 
std::shared_ptr< ChFunctionmotion_Z
 user imposed motion for Z coord, marker relative
 
std::shared_ptr< ChFunctionmotion_ang
 user imposed angle rotation about axis
 
std::shared_ptr< ChFunctionmotion_ang2
 user imposed angle rotation if three-angles rot.
 
std::shared_ptr< ChFunctionmotion_ang3
 user imposed angle rotation if three-angles rot.
 
Vector motion_axis
 this is the axis for the user imposed rotation
 
AngleSet angleset
 type of rotation (3 Eul angles, angle/axis, etc.)
 
Coordsys relC
 relative constraint position: relC = (relM-deltaC)
 
Coordsys relC_dt
 relative constraint speed
 
Coordsys relC_dtdt
 relative constraint acceleration
 
Coordsys deltaC
 user-imposed rel. position
 
Coordsys deltaC_dt
 user-imposed rel. speed
 
Coordsys deltaC_dtdt
 user-imposed rel. acceleration
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::vector< std::shared_ptr< ChAsset > > assets
 set of assets
 
unsigned int offset_x
 offset in vector of state (position part)
 
unsigned int offset_w
 offset in vector of state (speed part)
 
unsigned int offset_L
 offset in vector of lagrangian multipliers
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Additional Inherited Members

 Type of link-lock.

Member Function Documentation

void chrono::ChLinkLockLock::UpdateState ( )
overrideprotectedvirtual

Given current time and body state, computes the constraint differentiation to get the the state matrices Cq1, Cq2, Qc, Ct , and also C, C_dt, C_dtd.

Reimplemented from chrono::ChLinkLock.