chrono::ChLoad< Tloader > Class Template Reference

Description

template<class Tloader>
class chrono::ChLoad< Tloader >

Class for a load acting on a single ChLoadable item, via ChLoader objects.

There are various ChLoader interfaces ready to use, that can be used as 'building blocks'. These are especially important for creating loads that are distributed on surfaces, lines, volumes, since some ChLoaders implement quadrature. Create them as ChLoad< ChLoaderPressure > my_load(...); for example.

#include <ChLoad.h>

Inheritance diagram for chrono::ChLoad< Tloader >:
Collaboration diagram for chrono::ChLoad< Tloader >:

Public Member Functions

 ChLoad (std::shared_ptr< typename Tloader::type_loadable > mloadable)
 
virtual ChLoadClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual int LoadGet_ndof_x () override
 Gets the number of DOFs affected by this load (position part)
 
virtual int LoadGet_ndof_w () override
 Gets the number of DOFs affected by this load (speed part)
 
virtual void LoadGetStateBlock_x (ChState &mD) override
 Gets all the current DOFs packed in a single vector (position part)
 
virtual void LoadGetStateBlock_w (ChStateDelta &mD) override
 Gets all the current DOFs packed in a single vector (speed part)
 
virtual void LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
 Increment a packed state (ex. More...
 
virtual int LoadGet_field_ncoords () override
 Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc. More...
 
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute Q, the generalized load. More...
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w, ChMatrixRef mK, ChMatrixRef mR, ChMatrixRef mM) override
 Compute jacobians (default fallback). More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, const double c) override
 Adds the internal loads Q (pasted at global nodes offsets) into a global vector R, multiplied by a scaling factor c, as R += forces * c.
 
virtual bool IsStiff () override
 Default: load is stiff if the loader is stiff. Override if needed.
 
virtual void CreateJacobianMatrices () override
 Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block. More...
 
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 Access the jacobians (if any, i.e. if this is a stiff load)
 
virtual void Update (double time)
 Update: this is called at least at each time step. More...
 
virtual void InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
 Tell to a system descriptor that there are item(s) of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but inherited classes must 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 void ArchiveOUT (ChArchiveOut &marchive)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive)
 Method to allow de-serialization of transient data from archives.
 
virtual std::string & ArchiveContainerName ()
 

Public Attributes

Tloader loader
 

Additional Inherited Members

- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansjacobians
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Member Function Documentation

template<class Tloader >
void chrono::ChLoad< Tloader >::ComputeJacobian ( ChState state_x,
ChStateDelta state_w,
ChMatrixRef  mK,
ChMatrixRef  mR,
ChMatrixRef  mM 
)
overridevirtual

Compute jacobians (default fallback).

Uses a numerical differentiation for computing K, R, M jacobians, if stiff load. If possible, override this with an analytical jacobian. Compute the K=-dQ/dx, R=-dQ/dv , M=-dQ/da jacobians. Called automatically at each Update().

Parameters
state_xstate position to evaluate jacobians
state_wstate speed to evaluate jacobians
mKresult dQ/dx
mRresult dQ/dv
mMresult dQ/da

Implements chrono::ChLoadBase.

template<class Tloader >
void chrono::ChLoad< Tloader >::ComputeQ ( ChState state_x,
ChStateDelta state_w 
)
overridevirtual

Compute Q, the generalized load.

Q is stored in the wrapped ChLoader. Called automatically at each Update().

Parameters
state_xstate position to evaluate Q
state_wstate speed to evaluate Q

Implements chrono::ChLoadBase.

template<class Tloader >
void chrono::ChLoad< Tloader >::CreateJacobianMatrices ( )
overridevirtual

Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block.

Implements chrono::ChLoadBase.

template<class Tloader >
int chrono::ChLoad< Tloader >::LoadGet_field_ncoords ( )
overridevirtual

Number of coordinates in the interpolated field, ex=3 for a tetrahedron finite element or a cable, = 1 for a thermal problem, etc.

Implements chrono::ChLoadBase.

template<class Tloader >
void chrono::ChLoad< Tloader >::LoadStateIncrement ( const ChState x,
const ChStateDelta dw,
ChState x_new 
)
overridevirtual

Increment a packed state (ex.

as obtained by LoadGetStateBlock_x()) by a given packed state-delta. Compute: x_new = x + dw. Ex. this is called by the BDF numerical differentiation routine that computes jacobian in the default ComputeJacobian() fallback, if not overriding ComputeJacobian() with an analytical form.

Implements chrono::ChLoadBase.