chrono::ChLoadBodyBodyBushingGeneric Class Reference

Description

Load for a visco-elastic translational/rotational bushing acting between two bodies.

It uses a full user-defined 6x6 matrix [K] to express the local stiffness of the bushing, assumed expressed in the bushing coordinate system attached to the second body. A user-defined 6x6 matrix [D] can be defined for damping, as well. Note that this assumes small rotations. Differently from the simpler ChLoadBodyBodyBushingMate and ChLoadBodyBodyBushingSpherical this can represent coupled effects, by using extra-diagonal terms in [K] and/or [D].

#include <ChLoadsBody.h>

Inheritance diagram for chrono::ChLoadBodyBodyBushingGeneric:
Collaboration diagram for chrono::ChLoadBodyBodyBushingGeneric:

Public Member Functions

 ChLoadBodyBodyBushingGeneric (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application, const ChMatrix66d &stiffness66, const ChMatrix66d &damping66)
 
virtual ChLoadBodyBodyBushingGenericClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetStiffnessMatrix (const ChMatrix66d &mstiffness)
 Set a generic 6x6 stiffness matrix, expressed in local coordinate system of loc_application_B.
 
const ChMatrix66dGetStiffnessMatrix () const
 
void SetDampingMatrix (const ChMatrix66d &mdamping)
 Set a generic 6x6 damping matrix, expressed in local coordinate system of loc_application_B.
 
const ChMatrix66dGetDampingMatrix () const
 
void SetNeutralForce (const ChVector3d mf)
 Set the initial pre-load of the bushing, applied to loc_application_A, expressed in local coordinate system of loc_application_B. More...
 
ChVector3d GetNeutralForce () const
 
void SetNeutralTorque (const ChVector3d mt)
 Set the initial pre-load torque of the bushing, applied to loc_application_A, expressed in local coordinate system of loc_application_B. More...
 
ChVector3d GetNeutralTorque () const
 
ChFrameNeutralDisplacement ()
 Set/get the initial pre-displacement of the bushing, as the pre-displacement of A, expressed in local coordinate system of loc_application_B. More...
 
- Public Member Functions inherited from chrono::ChLoadBodyBody
 ChLoadBodyBody (std::shared_ptr< ChBody > bodyA, std::shared_ptr< ChBody > bodyB, const ChFrame<> &abs_application)
 
ChVector3d GetForce () const
 For diagnosis purposes, this can return the actual last computed value of the applied force, expressed in coordinate system of loc_application_B, assumed applied to body B.
 
ChVector3d GetTorque () const
 For diagnosis purposes, this can return the actual last computed value of the applied torque, expressed in coordinate system of loc_application_B, assumed applied to body B.
 
void SetApplicationFrameA (const ChFrame<> &mpA)
 Set the application frame of bushing on bodyA.
 
ChFrame GetApplicationFrameA () const
 
void SetApplicationFrameB (const ChFrame<> &mpB)
 Set the application frame of bushing on bodyB.
 
ChFrame GetApplicationFrameB () const
 
ChFrameMoving GetAbsoluteFrameA () const
 Get absolute coordinate of frame A (last computed)
 
ChFrameMoving GetAbsoluteFrameB () const
 Get absolute coordinate of frame B (last computed)
 
std::shared_ptr< ChBodyGetBodyA () const
 
std::shared_ptr< ChBodyGetBodyB () const
 
- Public Member Functions inherited from chrono::ChLoadCustomMultiple
 ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)
 
virtual int LoadGetNumCoordsPosLevel () override
 Gets the number of DOFs affected by this load (position part).
 
virtual int LoadGetNumCoordsVelLevel () 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 (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More...
 
virtual int LoadGetNumFieldCoords () override
 Number of coordinates in the interpolated field. More...
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override
 Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override
 Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More...
 
virtual void LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
 Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More...
 
virtual void LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
 Add the lumped mass to an Md vector, representing a mass diagonal matrix. More...
 
virtual void CreateJacobianMatrices () override
 Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block.
 
virtual ChVectorDynamicGetQ ()
 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 Update (double time)
 Update, called at least at each time step. More...
 
virtual void InjectKRMMatrices (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Get the unique integer identifier of this object. More...
 
void SetTag (int tag)
 Set an object integer tag (default: -1). More...
 
int GetTag () const
 Get the tag of this object.
 
void SetName (const std::string &myname)
 Set the name of this object.
 
const std::string & GetName () const
 Get the name of this object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
virtual void ArchiveOut (ChArchiveOut &archive_out)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in)
 Method to allow de-serialization of transient data from archives.
 
virtual std::string & ArchiveContainerName ()
 

Protected Member Functions

virtual bool IsStiff () override
 Report if this is load is stiff. More...
 
virtual void ComputeBodyBodyForceTorque (const ChFrameMoving<> &rel_AB, ChVector3d &loc_force, ChVector3d &loc_torque) override
 Implement the computation of the bushing force, in local coordinates of the loc_application_B. More...
 
- Protected Member Functions inherited from chrono::ChLoadBodyBody
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute the generalized load(s). More...
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 

Protected Attributes

ChMatrix66d stiffness
 
ChMatrix66d damping
 
ChVector3d neutral_force
 
ChVector3d neutral_torque
 
ChFrame neutral_displacement
 
- Protected Attributes inherited from chrono::ChLoadBodyBody
ChFrame loc_application_A
 application point on body A (local)
 
ChFrame loc_application_B
 application point on body B (local)
 
ChVector3d locB_force
 store computed values here
 
ChVector3d locB_torque
 store computed values here
 
ChFrameMoving frame_Aw
 for results
 
ChFrameMoving frame_Bw
 for results
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansm_jacobians
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 object simulation time
 
std::string m_name
 object name
 
int m_identifier
 object unique identifier
 
int m_tag
 user-supplied tag
 

Additional Inherited Members

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

Constructor & Destructor Documentation

◆ ChLoadBodyBodyBushingGeneric()

chrono::ChLoadBodyBodyBushingGeneric::ChLoadBodyBodyBushingGeneric ( std::shared_ptr< ChBody bodyA,
std::shared_ptr< ChBody bodyB,
const ChFrame<> &  abs_application,
const ChMatrix66d stiffness66,
const ChMatrix66d damping66 
)
Parameters
bodyAbody A
bodyBbody B
abs_applicationcreate the bushing here, in abs. coordinates.
stiffness66stiffness as a 6x6 matrix, local in the abs_application frame
damping66damping as a 6x6 matrix, local in the abs_application frame

Member Function Documentation

◆ ComputeBodyBodyForceTorque()

void chrono::ChLoadBodyBodyBushingGeneric::ComputeBodyBodyForceTorque ( const ChFrameMoving<> &  rel_AB,
ChVector3d loc_force,
ChVector3d loc_torque 
)
overrideprotectedvirtual

Implement the computation of the bushing force, in local coordinates of the loc_application_B.

Force is assumed applied to loc_application_B of body B, and its opposite reaction to A.

Implements chrono::ChLoadBodyBody.

◆ IsStiff()

virtual bool chrono::ChLoadBodyBodyBushingGeneric::IsStiff ( )
inlineoverrideprotectedvirtual

Report if this is load is stiff.

If so, InjectKRMMatrices will provide the Jacobians of the load.

Implements chrono::ChLoadBase.

◆ NeutralDisplacement()

ChFrame& chrono::ChLoadBodyBodyBushingGeneric::NeutralDisplacement ( )
inline

Set/get the initial pre-displacement of the bushing, as the pre-displacement of A, expressed in local coordinate system of loc_application_B.

Default behavior is no initial pre-displacement.

◆ SetNeutralForce()

void chrono::ChLoadBodyBodyBushingGeneric::SetNeutralForce ( const ChVector3d  mf)
inline

Set the initial pre-load of the bushing, applied to loc_application_A, expressed in local coordinate system of loc_application_B.

By default it is zero.

◆ SetNeutralTorque()

void chrono::ChLoadBodyBodyBushingGeneric::SetNeutralTorque ( const ChVector3d  mt)
inline

Set the initial pre-load torque of the bushing, applied to loc_application_A, expressed in local coordinate system of loc_application_B.

By default it is zero.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLoadsBody.cpp