Description

Forces are objects which must be attached to rigid bodies in order to apply torque or force to such body.

ChForce objects are able to represent either forces and torques, depending on a flag.

#include <ChForce.h>

Inheritance diagram for chrono::ChForce:

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Collaboration diagram for chrono::ChForce:

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Public Types
enum	ForceType { FORCE, TORQUE }
	Types of force application.

enum	ReferenceFrame { BODY, WORLD }
	Reference for position frame.

enum	AlignmentFrame { BODY_DIR, WORLD_DIR }
	Reference for alignment.

Public Member Functions
	ChForce (const ChForce &other)

virtual ChForce *	Clone () const override
	"Virtual" copy constructor (covariant return type).

ChBody *	GetBody ()
	Return the parent body (the force belongs to this rigid body)

void	SetBody (ChBody *newRB)
	Sets the parent body (the force belongs to this rigid body)

void	SetMode (ForceType m_mode)
	Sets the mode (force or torque)

ForceType	GetMode () const

void	SetAlign (AlignmentFrame m_align)
	Sets the alignment method. More...

AlignmentFrame	GetAlign () const

void	SetFrame (ReferenceFrame m_frame)
	Sets the alignment method. More...

ReferenceFrame	GetFrame () const

ChVector	GetVpoint () const
	Gets the application point, in absolute coordinates.

ChVector	GetVrelpoint () const
	Gets the application point, in rigid body coordinates.

void	SetVpoint (ChVector<> mypoint)
	Gets the application point, in absolute coordinates.

void	SetVrelpoint (ChVector<> myrelpoint)
	Gets the application point, in rigid body coordinates.

ChVector	GetDir () const
	Gets the force (or torque) direction, in absolute coordinates.

ChVector	GetRelDir () const
	Gets the force (or torque) direction, in rigid body coordinates.

void	SetDir (ChVector<> newf)
	Sets the force (or torque) direction, in absolute coordinates.

void	SetRelDir (ChVector<> newf)
	Sets the force (or torque) direction, in rigid body coordinates.

void	SetMforce (double newf)
	Sets force (or torque) modulus.

double	GetMforce () const
	Gets force (or torque) modulus.

void	SetModulation (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time-modulation of the force.

std::shared_ptr< ChFunction >	GetModulation () const

void	SetMove_x (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of position (on x axis)

std::shared_ptr< ChFunction >	GetMove_x () const

void	SetMove_y (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of position (on y axis)

std::shared_ptr< ChFunction >	GetMove_y () const

void	SetMove_z (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of position (on z axis)

std::shared_ptr< ChFunction >	GetMove_z () const

void	SetF_x (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of force X component.

std::shared_ptr< ChFunction >	GetF_x () const

void	SetF_y (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of force Y component.

std::shared_ptr< ChFunction >	GetF_y () const

void	SetF_z (std::shared_ptr< ChFunction > m_funct)
	Sets a f(t) function for time dependency of force Z component.

std::shared_ptr< ChFunction >	GetF_z () const

ChVector	GetForce () const
	Gets the instant force vector -or torque vector- in absolute coordinates.

ChVector	GetRelForce () const
	Gets the instant force vector -or torque vector- in rigid body coordinates.

double	GetForceMod () const
	Gets the instant force vector -or torque vector- modulus.

const ChVectorN< double, 7 > &	GetQf () const
	Gets force-torque applied to rigid body, as lagrangian generalized force (7x1 matrix).

void	GetBodyForceTorque (ChVector<> &body_force, ChVector<> &body_torque) const
	Gets force-torque applied to rigid body, as force vector (in absol.coords) and torque vector (in body coords).

void	UpdateTime (double mytime)

void	UpdateState ()

void	Update (double mytime)

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::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 std::string &	ArchiveContainerName ()

Additional Inherited Members
Protected Attributes inherited from chrono::ChObj
double	ChTime
	the time of simulation for the object

Member Function Documentation

◆ SetAlign()

void chrono::ChForce::SetAlign ( AlignmentFrame m_align )

inline

Sets the alignment method.

The force will rotate together with this reference.

◆ SetFrame()

void chrono::ChForce::SetFrame ( ReferenceFrame m_frame )

inline

Sets the alignment method.

The force application point will follow this reference.

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

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

Description

Public Types

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ SetAlign()

◆ SetFrame()