chrono::ChVariablesNode Class Reference

Description

Specialized class for representing a 3-DOF item for a system, that is a 3D point node, with mass matrix and associate variables (a 3 element vector, ex.speed)

#include <ChVariablesNode.h>

Inheritance diagram for chrono::ChVariablesNode:
Collaboration diagram for chrono::ChVariablesNode:

Public Member Functions

ChVariablesNodeoperator= (const ChVariablesNode &other)
 Assignment operator: copy from other object.
 
double GetNodeMass () const
 Get the mass associated with translation of node.
 
void SetNodeMass (const double mmass)
 Set the mass associated with translation of node.
 
virtual int Get_ndof () const override
 The number of scalar variables in the vector qb (dof=degrees of freedom)
 
void * GetUserData ()
 
void SetUserData (void *mdata)
 
virtual void Compute_invMb_v (ChVectorRef result, ChVectorConstRef vect) const override
 Computes the product of the inverse mass matrix by a vector, and set in result: result = [invMb]*vect.
 
virtual void Compute_inc_invMb_v (ChVectorRef result, ChVectorConstRef vect) const override
 Computes the product of the inverse mass matrix by a vector, and increment result: result += [invMb]*vect.
 
virtual void Compute_inc_Mb_v (ChVectorRef result, ChVectorConstRef vect) const override
 Computes the product of the mass matrix by a vector, and set in result: result = [Mb]*vect.
 
virtual void MultiplyAndAdd (ChVectorRef result, ChVectorConstRef vect, const double c_a) const override
 Computes the product of the corresponding block in the system matrix (ie. More...
 
virtual void DiagonalAdd (ChVectorRef result, const double c_a) const override
 Add the diagonal of the mass matrix scaled by c_a, to 'result'. More...
 
virtual void Build_M (ChSparseMatrix &storage, int insrow, int inscol, const double c_a) override
 Build the mass matrix (for these variables) scaled by c_a, storing it in 'storage' sparse matrix, at given column/row offset. More...
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChVariables
 ChVariables (int m_ndof)
 
ChVariablesoperator= (const ChVariables &other)
 Assignment operator: copy from other object.
 
void SetDisabled (bool mdis)
 Deactivates/freezes the variable (these variables won't be modified by the system solver).
 
bool IsDisabled () const
 Check if the variables have been deactivated (these variables won't be modified by the system solver).
 
bool IsActive () const
 Check if these variables are currently active. More...
 
ChVectorRef Get_qb ()
 Returns reference to qb, body-relative part of degrees of freedom q in system: More...
 
virtual void Compute_fb ()
 Compute fb, body-relative part of known vector f in system. More...
 
ChVectorRef Get_fb ()
 Returns reference to fb, body-relative part of known vector f in system. More...
 
void SetOffset (int moff)
 Set offset in global q vector (set automatically by ChSystemDescriptor)
 
int GetOffset () const
 Get offset in global q vector.
 

Additional Inherited Members

- Protected Attributes inherited from chrono::ChVariables
int offset
 offset in global q state vector (needed by some solvers)
 

Member Function Documentation

void chrono::ChVariablesNode::Build_M ( ChSparseMatrix storage,
int  insrow,
int  inscol,
const double  c_a 
)
overridevirtual

Build the mass matrix (for these variables) scaled by c_a, storing it in 'storage' sparse matrix, at given column/row offset.

Note, most iterative solvers don't need to know mass matrix explicitly. Optimized: doesn't fill unneeded elements except mass.

Implements chrono::ChVariables.

void chrono::ChVariablesNode::DiagonalAdd ( ChVectorRef  result,
const double  c_a 
) const
overridevirtual

Add the diagonal of the mass matrix scaled by c_a, to 'result'.

NOTE: the 'result' vector must already have the size of system unknowns, ie the size of the total variables & constraints in the system; the procedure will use the ChVariable offset (that must be already updated) as index.

Implements chrono::ChVariables.

void chrono::ChVariablesNode::MultiplyAndAdd ( ChVectorRef  result,
ChVectorConstRef  vect,
const double  c_a 
) const
overridevirtual

Computes the product of the corresponding block in the system matrix (ie.

the mass matrix) by 'vect', scale by c_a, and add to 'result'. NOTE: the 'vect' and 'result' vectors must already have the size of the total variables&constraints in the system; the procedure will use the ChVariable offsets (that must be already updated) to know the indexes in result and vect.

Implements chrono::ChVariables.