chrono::ChLoadXYZnodeXYZnodeSpring Class Reference

Description

Load representing a spring between two ChNodeXYZ, with given damping and spring constants, directed as the distance between the two.

#include <ChLoadsXYZnode.h>

Inheritance diagram for chrono::ChLoadXYZnodeXYZnodeSpring:
Collaboration diagram for chrono::ChLoadXYZnodeXYZnodeSpring:

Public Member Functions

 ChLoadXYZnodeXYZnodeSpring (std::shared_ptr< ChNodeXYZ > mnodeA, std::shared_ptr< ChNodeXYZ > mnodeB, double mK, double mR, double mD0=0)
 
virtual ChLoadXYZnodeXYZnodeSpringClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual void ComputeForce (const ChVector<> &rel_pos, const ChVector<> &rel_vel, ChVector<> &abs_force) override
 Compute the force on the nodeA, in absolute coordsystem,. More...
 
void SetStiffness (const double mstiffness)
 Set stiffness, along direction, es [N/m].
 
double GetStiffness () const
 
void SetDamping (const double mdamping)
 Set damping, along direction, es [Ns/m].
 
double GetDamping () const
 
void SetRestLength (const double mrest)
 Set initial spring length, es [m].
 
double GetRestLength () const
 
void SetStiff (bool ms)
 Use this to enable the stiff force computation (i.e. More...
 
- Public Member Functions inherited from chrono::ChLoadXYZnodeXYZnode
 ChLoadXYZnodeXYZnode (std::shared_ptr< ChNodeXYZ > mnodeA, std::shared_ptr< ChNodeXYZ > mnodeB)
 
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute Q, the generalized load. More...
 
ChVector GetForce () const
 For diagnosis purposes, this can return the actual last computed value of. More...
 
- Public Member Functions inherited from chrono::ChLoadCustomMultiple
 ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &mloadables)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > mloadableA, std::shared_ptr< ChLoadable > mloadableB, std::shared_ptr< ChLoadable > mloadableC)
 
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 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 void CreateJacobianMatrices () override
 Create the jacobian loads if needed, and also set the ChVariables referenced by the sparse KRM block. More...
 
virtual ChVectorDynamic & GetQ ()
 Access the generalized load vector Q.
 
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 Access the jacobians (if any, i.e. if this is a stiff load)
 
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 ()
 

Protected Member Functions

virtual bool IsStiff () override
 Inherited classes could override this and return true, if the load benefits from a jacobian when using implicit integrators. More...
 
- Protected Member Functions inherited from chrono::ChLoadXYZnodeXYZnode
virtual void Update (double time) override
 Update: this is called at least at each time step. More...
 

Protected Attributes

double K
 
double R
 
double d_0
 
bool is_stiff
 
- Protected Attributes inherited from chrono::ChLoadXYZnodeXYZnode
ChVector computed_abs_force
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansjacobians
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 the time of simulation for the object
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > > loadables
 
ChVectorDynamic load_Q
 

Constructor & Destructor Documentation

chrono::ChLoadXYZnodeXYZnodeSpring::ChLoadXYZnodeXYZnodeSpring ( std::shared_ptr< ChNodeXYZ mnodeA,
std::shared_ptr< ChNodeXYZ mnodeB,
double  mK,
double  mR,
double  mD0 = 0 
)
Parameters
mnodeAnode to apply load to
mnodeBnode to apply load to as reaction
mKstiffness,
mRdamping,
mD0initial rest length

Member Function Documentation

void chrono::ChLoadXYZnodeXYZnodeSpring::ComputeForce ( const ChVector<> &  rel_pos,
const ChVector<> &  rel_vel,
ChVector<> &  abs_force 
)
overridevirtual

Compute the force on the nodeA, in absolute coordsystem,.

Compute the force on the node, in absolute coordsystem, given position of node as abs_pos.

given relative position of nodeA respect to B, in absolute basis

Implements chrono::ChLoadXYZnodeXYZnode.

virtual bool chrono::ChLoadXYZnodeXYZnodeSpring::IsStiff ( )
overrideprotectedvirtual

Inherited classes could override this and return true, if the load benefits from a jacobian when using implicit integrators.

Reimplemented from chrono::ChLoadXYZnodeXYZnode.

void chrono::ChLoadXYZnodeXYZnodeSpring::SetStiff ( bool  ms)

Use this to enable the stiff force computation (i.e.

it enables the automated computation of the jacobian by numerical differentiation to elp the convergence of implicit integrators, but adding CPU overhead).