Description

Class for objects that represent moving frames in space and that contain ChVariables proxies to the solver.

i.e. items with translational and rotational degrees of freedom This class is used as a base for the very used ChBody class

#include <ChBodyFrame.h>

Inheritance diagram for chrono::ChBodyFrame:

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Collaboration diagram for chrono::ChBodyFrame:

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Public Member Functions
	ChBodyFrame (const ChBodyFrame &other)

virtual ChVariablesBodyOwnMass &	VariablesBody ()=0
	Returns reference to the encapsulated ChVariablesBody, representing body variables (pos, speed or accel. More...

virtual ChVariables &	Variables ()=0

void	To_abs_forcetorque (const ChVector<> &force, const ChVector<> &appl_point, bool local, ChVector<> &resultforce, ChVector<> &resulttorque)
	Transform generic cartesian force into absolute force+torque applied to body COG. More...

void	To_abs_torque (const ChVector<> &torque, bool local, ChVector<> &resulttorque)
	Transform generic cartesian torque into absolute torque applied to body COG. 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 deserialization of transient data from archives.

Public Member Functions inherited from chrono::ChFrameMoving< double >
	ChFrameMoving (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Construct from pos and rot (as a quaternion)

	ChFrameMoving (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrameMoving (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrameMoving (const ChFrame< double > &mc)
	Construct from a frame.

	ChFrameMoving (const ChFrameMoving< double > &other)
	Copy constructor, build from another moving frame.

virtual	~ChFrameMoving ()
	Destructor.

ChFrameMoving< double > &	operator= (const ChFrameMoving< double > &other)
	Assignment operator: copy from another moving frame.

ChFrameMoving< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

bool	operator== (const ChFrameMoving< double > &other) const
	Returns true for identical frames.

bool	operator!= (const ChFrameMoving< double > &other) const
	Returns true for different frames.

ChFrameMoving< double >	operator>> (const ChFrameMoving< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double >	operator* (const ChFrameMoving< double > &Fb) const
	The '' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = tr_frame old_frame; For a sequence of transformations, i.e. More...

ChFrameMoving< double > &	operator>>= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrameMoving< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrameMoving< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrameMoving< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F:

ChFrameMoving< double > &	operator>>= (const ChFrame< double > &F)
	Performs pre-multiplication of this frame by a ChFrame F:

ChFrameMoving< double > &	operator%= (const ChFrameMoving< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrameMoving< double > &	operator*= (const ChFrameMoving< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord_dt ()
	Return both current rotation and translation speeds as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dt () const

ChCoordsys< double > &	GetCoord_dtdt ()
	Return both current rotation and translation accelerations as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord_dtdt () const

ChVector< double > &	GetPos_dt ()
	Return the current speed as a 3d vector.

const ChVector< double > &	GetPos_dt () const

ChVector< double > &	GetPos_dtdt ()
	Return the current acceleration as a 3d vector.

const ChVector< double > &	GetPos_dtdt () const

ChQuaternion< double > &	GetRot_dt ()
	Return the current rotation speed as a quaternion.

const ChQuaternion< double > &	GetRot_dt () const

ChQuaternion< double > &	GetRot_dtdt ()
	Return the current rotation acceleration as a quaternion.

const ChQuaternion< double > &	GetRot_dtdt () const

ChVector< double >	GetWvel_loc () const
	Computes the actual angular speed (expressed in local coords)

ChVector< double >	GetWvel_par () const
	Computes the actual angular speed (expressed in parent coords)

ChVector< double >	GetWacc_loc () const
	Computes the actual angular acceleration (expressed in local coords)

ChVector< double >	GetWacc_par () const
	Computes the actual angular acceleration (expressed in parent coords)

virtual void	SetCoord_dt (const ChCoordsys< double > &mcoord_dt)
	Set both linear speed and rotation speed as a single ChCoordsys derivative.

virtual void	SetPos_dt (const ChVector< double > &mvel)
	Set the linear speed.

virtual void	SetRot_dt (const ChQuaternion< double > &mrot_dt)
	Set the rotation speed as a quaternion. More...

virtual void	SetWvel_loc (const ChVector< double > &wl)
	Set the rotation speed from given angular speed (expressed in local csys)

virtual void	SetWvel_par (const ChVector< double > &wp)
	Set the rotation speed from given angular speed (expressed in parent csys)

virtual void	SetCoord_dtdt (const ChCoordsys< double > &mcoord_dtdt)
	Set both linear acceleration and rotation acceleration as a single ChCoordsys derivative.

virtual void	SetPos_dtdt (const ChVector< double > &macc)
	Set the linear acceleration.

virtual void	SetRot_dtdt (const ChQuaternion< double > &mrot_dtdt)
	Set the rotation acceleration as a quaternion derivative. More...

virtual void	SetWacc_loc (const ChVector< double > &al)
	Set the rotation acceleration from given angular acceleration (expressed in local csys)

virtual void	SetWacc_par (ChVector< double > &ap)
	Set the rotation speed from given angular speed (expressed in parent csys)

void	Compute_Adt (ChMatrix33< double > &mA_dt) const
	Computes the time derivative of rotation matrix, mAdt.

void	Compute_Adtdt (ChMatrix33< double > &mA_dtdt)
	Computes the 2nd time derivative of rotation matrix, mAdtdt.

ChMatrix33< double >	GetA_dt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adt() directly for better performance)

ChMatrix33< double >	GetA_dtdt ()
	Computes and returns an Adt matrix (-note: prefer using Compute_Adtdt() directly for better performance)

void	ConcatenatePreTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T. More...

void	ConcatenatePostTransformation (const ChFrameMoving< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrameMoving T in local coordinate. More...

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the speed in parent coords.

ChVector< double >	PointSpeedLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed) const
	Given the position localpos of a point in the local reference frame, assuming that the point moves in the local reference frame with localspeed, return the speed in the parent reference frame.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos) const
	Given the position of a point in local frame coords, and assuming it is sticky to frame, return the acceleration in parent coords.

ChVector< double >	PointAccelerationLocalToParent (const ChVector< double > &localpos, const ChVector< double > &localspeed, const ChVector< double > &localacc) const
	Given the position of a point in local frame coords, and assuming it has a frame-relative speed localspeed and frame-relative acceleration localacc, return the acceleration in parent coords.

ChVector< double >	PointSpeedParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed, return the speed in local coords.

ChVector< double >	PointAccelerationParentToLocal (const ChVector< double > &parentpos, const ChVector< double > &parentspeed, const ChVector< double > &parentacc) const
	Given the position of a point in parent frame coords, and assuming it has an absolute speed parentspeed and absolute acceleration parentacc, return the acceleration in local coords.

void	TransformLocalToParent (const ChFrameMoving< double > &local, ChFrameMoving< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system, and also transforms the speed and acceleration of the frame. More...

void	TransformParentToLocal (const ChFrameMoving< double > &parent, ChFrameMoving< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

bool	Equals (const ChFrameMoving< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrameMoving< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

virtual void	Invert () override
	The transformation (also for speeds, accelerations) is inverted in place. More...

ChFrameMoving< double >	GetInverse () const

Public Member Functions inherited from chrono::ChFrame< double >
	ChFrame (const ChVector< double > &mv=ChVector< double >(0, 0, 0), const ChQuaternion< double > &mq=ChQuaternion< double >(1, 0, 0, 0))
	Default constructor, or construct from pos and rot (as a quaternion)

	ChFrame (const ChVector< double > &mv, const ChMatrix33< double > &ma)
	Construct from pos and rotation (as a 3x3 matrix)

	ChFrame (const ChCoordsys< double > &mc)
	Construct from a coordsys.

	ChFrame (const ChVector< double > &mv, const double alpha, const ChVector< double > &mu)
	Construct from position mv and rotation of angle alpha around unit vector mu.

	ChFrame (const ChFrame< double > &other)
	Copy constructor, build from another frame.

ChFrame< double > &	operator= (const ChFrame< double > &other)
	Assignment operator: copy from another frame.

virtual bool	operator== (const ChFrame< double > &other) const
	Returns true for identical frames.

virtual bool	operator!= (const ChFrame< double > &other) const
	Returns true for different frames.

ChFrame< double >	operator>> (const ChFrame< double > &Fb) const
	The '>>' operator transforms a coordinate system, so transformations can be represented with this syntax: new_frame = old_frame >> tr_frame; For a sequence of transformations, i.e. More...

ChFrame< double >	operator* (const ChFrame< double > &Fb) const
	The '>>' operator transforms a vector, so transformations can be represented with this syntax: new_v = old_v >> tr_frame; For a sequence of transformations, i.e. More...

ChVector< double >	operator* (const ChVector< double > &V) const
	The '' operator transforms a vector, so transformations can be represented with this syntax: new_v = tr_frame old_v; For a sequence of transformations, i.e. More...

ChVector< double >	operator/ (const ChVector< double > &V) const
	The '/' is like the '*' operator (see), but uses the inverse transformation for A, in A/b. More...

ChFrame< double > &	operator>>= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A>>=T means A'=T*A ; or A'=A >> T.

ChFrame< double > &	operator>>= (const ChVector< double > &D)
	Performs pre-multiplication of this frame by a vector D, to 'move' by a displacement D:

ChFrame< double > &	operator>>= (const ChQuaternion< double > &R)
	Performs pre-multiplication of this frame by a quaternion R, to 'rotate' it by R:

ChFrame< double > &	operator>>= (const ChCoordsys< double > &F)
	Performs pre-multiplication of this frame by a ChCoordsys F, to transform it:

ChFrame< double > &	operator%= (const ChFrame< double > &T)
	Performs pre-multiplication of this frame by another frame, for example: A%=T means A'=T*A ; or A'=A >> T Note: DEPRECATED, use >>= instead.

ChFrame< double > &	operator*= (const ChFrame< double > &T)
	Performs post-multiplication of this frame by another frame, for example: A=T means A'=AT ; or A'=T >> A.

ChCoordsys< double > &	GetCoord ()
	Return both current rotation and translation as a coordsystem object, with vector and quaternion.

const ChCoordsys< double > &	GetCoord () const

ChVector< double > &	GetPos ()
	Return the current translation as a 3d vector.

const ChVector< double > &	GetPos () const

ChQuaternion< double > &	GetRot ()
	Return the current rotation as a quaternion.

const ChQuaternion< double > &	GetRot () const

ChMatrix33< double > &	GetA ()
	Return the current rotation as a 3x3 matrix.

const ChMatrix33< double > &	GetA () const

ChVector< double >	GetRotAxis ()
	Get axis of finite rotation, in parent space.

double	GetRotAngle ()
	Get angle of rotation about axis of finite rotation.

virtual void	SetCoord (const ChCoordsys< double > &mcoord)
	Impose both translation and rotation as a single ChCoordsys. More...

virtual void	SetCoord (const ChVector< double > &mv, const ChQuaternion< double > &mq)
	Impose both translation and rotation. More...

virtual void	SetRot (const ChQuaternion< double > &mrot)
	Impose the rotation as a quaternion. More...

virtual void	SetRot (const ChMatrix33< double > &mA)
	Impose the rotation as a 3x3 matrix. More...

virtual void	SetPos (const ChVector< double > &mpos)
	Impose the translation.

void	ConcatenatePreTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T. More...

void	ConcatenatePostTransformation (const ChFrame< double > &T)
	Apply a transformation (rotation and translation) represented by another ChFrame T in local coordinate. More...

void	Move (const ChVector< double > &V)
	An easy way to move the frame by the amount specified by vector V, (assuming V expressed in parent coordinates)

void	Move (const ChCoordsys< double > &VR)
	Apply both translation and rotation, assuming both expressed in parent coordinates, as a vector for translation and quaternion for rotation,.

virtual ChVector< double >	TransformLocalToParent (const ChVector< double > &local) const
	This function transforms a point from the local frame coordinate system to the parent coordinate system. More...

virtual void	TransformLocalToParent (const ChFrame< double > &local, ChFrame< double > &parent) const
	This function transforms a frame from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformPointLocalToParent (const ChVector< double > &local) const

virtual ChVector< double >	TransformParentToLocal (const ChVector< double > &parent) const
	This function transforms a point from the parent coordinate system to local frame coordinate system. More...

virtual void	TransformParentToLocal (const ChFrame< double > &parent, ChFrame< double > &local) const
	This function transforms a frame from the parent coordinate system to 'this' local frame coordinate system. More...

virtual ChVector< double >	TransformPointParentToLocal (const ChVector< double > &parent) const

virtual ChVector< double >	TransformDirectionParentToLocal (const ChVector< double > &mdirection) const
	This function transforms a direction from 'this' local coordinate system to parent frame coordinate system. More...

virtual ChVector< double >	TransformDirectionLocalToParent (const ChVector< double > &mdirection) const
	This function transforms a direction from the parent frame coordinate system to 'this' local coordinate system. More...

bool	Equals (const ChFrame< double > &other) const
	Returns true if coordsys is identical to other coordsys.

bool	Equals (const ChFrame< double > &other, double tol) const
	Returns true if coordsys is equal to other coordsys, within a tolerance 'tol'.

void	Normalize ()
	Normalize the rotation, so that quaternion has unit length.

virtual void	SetIdentity ()
	Sets to no translation and no rotation.

ChFrame< double >	GetInverse () const

Additional Inherited Members
Public Attributes inherited from chrono::ChFrameMoving< double >
ChCoordsys< double >	coord_dt
	Rotation and position speed, as vector+quaternion.

ChCoordsys< double >	coord_dtdt
	Rotation and position acceleration, as vector+quaternion.

Public Attributes inherited from chrono::ChFrame< double >
ChCoordsys< double >	coord
	Rotation and position, as vector+quaternion.

ChMatrix33< double >	Amatrix
	3x3 orthogonal rotation matrix

Member Function Documentation

◆ To_abs_forcetorque()

void chrono::ChBodyFrame::To_abs_forcetorque	(	const ChVector<> &	force,
		const ChVector<> &	appl_point,
		bool	local,
		ChVector<> &	resultforce,
		ChVector<> &	resulttorque
	)

Transform generic cartesian force into absolute force+torque applied to body COG.

If local=1, force & application point are intended as expressed in local coordinates, if =0, in absolute.

◆ To_abs_torque()

void chrono::ChBodyFrame::To_abs_torque	(	const ChVector<> &	torque,
		bool	local,
		ChVector<> &	resulttorque
	)

Transform generic cartesian torque into absolute torque applied to body COG.

If local=1, torque is intended as expressed in local coordinates, if =0, in absolute.

◆ VariablesBody()

virtual ChVariablesBodyOwnMass& chrono::ChBodyFrame::VariablesBody ( )

pure virtual

Returns reference to the encapsulated ChVariablesBody, representing body variables (pos, speed or accel.

see VariablesLoad...() ) and forces. The ChVariablesBodyOwnMass is the interface to the system solver.

Implemented in chrono::ChBody, and chrono::fea::ChNodeFEAxyzrot.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/physics/ChBodyFrame.h
/builds/uwsbel/chrono/src/chrono/physics/ChBodyFrame.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ To_abs_forcetorque()

◆ To_abs_torque()

◆ VariablesBody()