chrono::ChStateDelta Class Reference

Description

Class for incremental form of state of time-integrable objects.

Note that for many cases, this would be superfluous, because one could do y_new = y_old + dydt*td, where dydt is a ChState just like y and y_new, but there are cases where such simple "+" operations between vectors is not practical, for instance when integrating rotations in 3D space, where it is better to work with quaternions in y and y_new, but with spinors/angular velocities/etc. in dydt; so dim(y) is not dim(dydt); hence the need of this specific class for increments in states. This is a vector (one-column matrix) which extends ChVectorDynamic.

#include <ChState.h>

Inherits ChVectorDynamic< double >.

Public Member Functions

 ChStateDelta (ChIntegrable *intgr=0)
 Constructors.
 
 ChStateDelta (Eigen::Index size, ChIntegrable *intgr)
 
 ChStateDelta (ChVectorConstRef vec, ChIntegrable *intgr)
 
 ChStateDelta (const ChStateDelta &other)
 Copy constructor.
 
template<typename OtherDerived >
ChStateDeltaoperator= (const Eigen::MatrixBase< OtherDerived > &other)
 This method allows assigning Eigen expressions to ChStateDelta.
 
ChStateDelta operator- ()
 Unary minus operator.
 
ChStateDeltaoperator*= (double factor)
 Scale this state by the given value.
 
ChStateDelta operator+ (ChVectorConstRef vec) const
 Return the sum of this state and another vector.
 
ChStateDelta operator- (ChVectorConstRef vec) const
 Return the difference of this state vector and another vector.
 
ChStateDelta operator* (double factor) const
 Return this state vector scaled by the given value.
 
void setZero (Eigen::Index size, ChIntegrable *intgr)
 Reset to zeroes and (if needed) changes the size.
 
ChIntegrableGetIntegrable () const