Description

This is an "interface" from 3D to a powertrain/powertrain that is modeled via 1D elements such as ChShaft, ChShaftsMotor, ChShaftsGearbox, ChShaftsClutch, etc.

This is the most avanced type of "linear motor" because using many of those 1D elements one can build very complex drivelines, for example use this ChLinkMotorLinearDriveline to represent a drive+reducer, where usually the drive moves a recirculating screw or a pulley or a rack-pinion. Hence this takes into account of the inertia of the motor shaft (as in many cases of robotic actuators, that has electric drives+reducers.) At the same time, using 1D elements avoids the unnecessary complication of using complete 3D parts to make screws, spindles, 3D rack-pinions, etc.

The 1D driveline is "interfaced" to the two connected threedimensional parts using two "inner" 1D shafts, each connected to 3D part translation; it is up to the user to build the driveline that connects those two shafts.

Most often the driveline is a graph starting at inner shaft 2 (consider it to be the truss for holding the motor drive, also the support for reducers if any) and ending at inner shaft 1 (consider it to be the output, i.e. the slow-moving slider).

#include <ChLinkMotorLinearDriveline.h>

Inheritance diagram for chrono::ChLinkMotorLinearDriveline:

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Collaboration diagram for chrono::ChLinkMotorLinearDriveline:

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Public Member Functions
	ChLinkMotorLinearDriveline (const ChLinkMotorLinearDriveline &other)

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

virtual void	SetSystem (ChSystem *m_system) override
	Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system.

std::shared_ptr< ChShaft >	GetInnerShaft1lin () const
	Access the inner 1D shaft connected to the translation of body1 about dir of linear guide. More...

std::shared_ptr< ChShaft >	GetInnerShaft2lin () const
	Access the inner 1D shaft connected to the translation of body2 about dir of linear guide. More...

std::shared_ptr< ChShaft >	GetInnerShaft2rot () const
	Access the inner 1D shaft connected to the rotation of body2 about dir of linear guide. More...

void	SetInnerShaft2RotDirection (ChVector<> md)
	Set the direction of the inner rotation axis for body2, expressed in link coordinates Default is VECT_X, same dir of guide, i.e. More...

ChVector	GetInnerShaft2RotDirection () const
	Get the direction of the inner rotation axis for body2, expressed in link coordinates Default is VECT_X, same dir of guide, i.e. More...

double	GetInnerForce1 () const
	Get the force between body 1 and inner shaft 1 Note: cohincident with GetMotorForce() of this motor.

double	GetInnerForce2 () const
	Get the force between body 2 and inner translational shaft 2.

double	GetInnerTorque2 () const
	Get the torque between body 2 and inner rotational shaft 2 (ex. More...

virtual double	GetMotorForce () const override
	Get the current actuator reaction torque [Nm].

virtual void	Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, ChFrame<> mabsframe) override
	Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame). More...

virtual void	Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChFrame<> mframe1, ChFrame<> mframe2) override
	Specialized initialization for LinkMotorLinearDriveline, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs. More...

virtual void	Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChVector<> mpt1, ChVector<> mpt2, ChVector<> mnorm1, ChVector<> mnorm2) override
	Specialized initialization for LinkMotorLinearDriveline based on passing two vectors (point + dir) on the two bodies, which will represent the X axes of the two frames (Y and Z will be built from the X vector via Gram Schmidt orthonormalization). More...

virtual void	Setup () override
	Compute offsets of sub-objects, offsetting all the contained sub objects (the inner shafts)

virtual void	Update (double mytime, bool update_assets=true) override
	Update this object. Also relinks the innerconstraints.

virtual int	GetDOF () override
	Get the number of scalar coordinates (variables), if any, in this item. More...

virtual int	GetDOC () override
	Get the number of scalar constraints, if any, in this item.

virtual int	GetDOC_c () override
	Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this.

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) override
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T) override
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) override
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) override
	From global acceleration vector to item's state acceleration. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) override
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override
	From item's reaction forces to global reaction vector. More...

virtual void	IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override
	From global reaction vector to item's reaction forces. More...

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) override
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override
	Takes the term Cq'L, scale and adds to R at given offset: R += cCq'*L. More...

virtual void	IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override
	Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override
	Prepare variables and constraints to accommodate a solution: More...

virtual void	IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override
	After a solver solution, fetch values from variables and constraints into vectors: More...

virtual void	InjectConstraints (ChSystemDescriptor &mdescriptor) override
	Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.

virtual void	ConstraintsBiReset () override
	Sets to zero the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override
	Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsBiLoad_Ct (double factor=1) override
	Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsLoadJacobians () override
	Adds the current jacobians in encapsulated ChConstraints.

virtual void	ConstraintsFetch_react (double factor=1) override
	Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More...

virtual void	InjectVariables (ChSystemDescriptor &mdescriptor) override
	Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.

virtual void	VariablesFbReset () override
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1) override
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed () override
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq () override
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0) override
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step) override
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. 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. More...

Public Member Functions inherited from chrono::ChLinkMotorLinear
	ChLinkMotorLinear (const ChLinkMotorLinear &other)

void	SetGuideConstraint (const GuideConstraint mconstraint)
	"Virtual" copy constructor (covariant return type). More...

void	SetGuideConstraint (bool mc_y, bool mc_z, bool mc_rx, bool mc_ry, bool mc_rz)
	Sets which movements (of frame 1 respect to frame 2) are constrained. More...

virtual double	GetMotorPos () const
	Get the current actuator displacement [m], including error etc.

virtual double	GetMotorPos_dt () const
	Get the current actuator speed [m/s], including error etc.

virtual double	GetMotorPos_dtdt () const
	Get the current actuator acceleration [m/s^2], including error etc.

Public Member Functions inherited from chrono::ChLinkMotor
	ChLinkMotor (const ChLinkMotor &other)

void	SetMotorFunction (const std::shared_ptr< ChFunction > function)
	Set the actuation function of time F(t). More...

std::shared_ptr< ChFunction >	GetMotorFunction () const
	Get the actuation function F(t).

Public Member Functions inherited from chrono::ChLinkMateGeneric
	ChLinkMateGeneric (bool mc_x=true, bool mc_y=true, bool mc_z=true, bool mc_rx=true, bool mc_ry=true, bool mc_rz=true)

	ChLinkMateGeneric (const ChLinkMateGeneric &other)

virtual ChCoordsys	GetLinkRelativeCoords () override
	Get the link coordinate system, expressed relative to Body2 (the 'master' body). More...

virtual ChFrame	GetAssetsFrame (unsigned int nclone=0) override
	Get the master coordinate system for the assets (this will return the absolute coordinate system of the 'master' marker2)

ChFrame &	GetFrame1 ()
	Access the coordinate system considered attached to body1. More...

ChFrame &	GetFrame2 ()
	Access the coordinate system considered attached to body2. More...

bool	IsConstrainedX () const

bool	IsConstrainedY () const

bool	IsConstrainedZ () const

bool	IsConstrainedRx () const

bool	IsConstrainedRy () const

bool	IsConstrainedRz () const

void	SetConstrainedCoords (bool mc_x, bool mc_y, bool mc_z, bool mc_rx, bool mc_ry, bool mc_rz)
	Sets which movements (of frame 1 respect to frame 2) are constrained.

virtual int	RestoreRedundant () override
	If some constraint is redundant, return to normal state.

virtual void	SetDisabled (bool mdis) override
	User can use this to enable/disable all the constraint of the link as desired.

virtual void	SetBroken (bool mon) override
	Ex:3rd party software can set the 'broken' status via this method.

virtual int	GetDOC_d () override
	Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this.

const ChConstraintVectorX &	GetC () const
	Link violation (residuals of the link constraint equations).

Public Member Functions inherited from chrono::ChLinkMate
	ChLinkMate (const ChLinkMate &other)

Public Member Functions inherited from chrono::ChLink
	ChLink (const ChLink &other)

int	GetLeftDOF ()
	Get the number of free degrees of freedom left by this link, between two bodies.

virtual int	GetNumCoords () override
	Get the number of scalar variables affected by constraints in this link.

ChBodyFrame *	GetBody1 ()
	Get the constrained body '1', the 'slave' body.

ChBodyFrame *	GetBody2 ()
	Get the constrained body '2', the 'master' body.

virtual ChCoordsys	GetLinkAbsoluteCoords () override
	Get the link coordinate system in absolute reference. More...

virtual ChVector	Get_react_force () override
	Get reaction force, expressed in link coordinate system.

virtual ChVector	Get_react_torque () override
	Get reaction torque, expressed in link coordinate system.

virtual void	UpdateTime (double mytime)
	Given new time, current body state, update time-dependent quantities in link state, for example motion laws, moving markers, etc. More...

virtual void	Update (bool update_assets=true) override
	As above, but with current time.

virtual void	UpdatedExternalTime (double prevtime, double time)
	Called from a external package (i.e. a plugin, a CAD app.) to report that time has changed.

Public Member Functions inherited from chrono::ChLinkBase
	ChLinkBase (const ChLinkBase &other)

bool	IsValid ()
	Tells if the link data is currently valid. More...

void	SetValid (bool mon)
	Set the status of link validity.

bool	IsDisabled ()
	Tells if all constraints of this link are currently turned on or off by the user.

bool	IsBroken ()
	Tells if the link is broken, for excess of pulling/pushing.

bool	IsActive ()
	An important function! Tells if the link is currently active, in general, that is tells if it must be included into the system solver or not. More...

virtual bool	IsRequiringWaking ()
	Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. More...

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem()

void	AddAsset (std::shared_ptr< ChAsset > masset)
	Add an optional asset (it can be used to define visualization shapes, es ChSphereShape, or textures, or custom attached properties that the user can define by creating his class inherited from ChAsset)

std::vector< std::shared_ptr< ChAsset > > &	GetAssets ()
	Access to the list of optional assets.

std::shared_ptr< ChAsset >	GetAssetN (unsigned int num)
	Access the Nth asset in the list of optional assets.

virtual unsigned int	GetAssetsFrameNclones ()
	Optionally, a ChPhysicsItem can return multiple asset coordinate systems; this can be helpful if, for example, when a ChPhysicsItem contains 'clones' with the same assets (ex. More...

virtual bool	GetCollide () const
	Tell if the object is subject to collision. More...

virtual void	SyncCollisionModels ()
	If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item.

virtual void	AddCollisionModelsToSystem ()
	If this physical item contains one or more collision models, add them to the system's collision engine.

virtual void	RemoveCollisionModelsFromSystem ()
	If this physical item contains one or more collision models, remove them from the system's collision engine.

virtual void	GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax)
	Get the entire AABB axis-aligned bounding box of the object. More...

virtual void	GetCenter (ChVector<> &mcenter)
	Get a symbolic 'center' of the object. More...

virtual void	StreamINstate (ChStreamInBinary &mstream)
	Method to deserialize only the state (position, speed) Must be implemented by child classes.

virtual void	StreamOUTstate (ChStreamOutBinary &mstream)
	Method to serialize only the state (position, speed) Must be implemented by child classes.

virtual void	SetNoSpeedNoAcceleration ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual int	GetDOF_w ()
	Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More...

unsigned int	GetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	GetOffset_w ()
	Get offset in the state vector (speed part)

unsigned int	GetOffset_L ()
	Get offset in the lagrangian multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

virtual void	ConstraintsBiLoad_Qc (double factor=1)
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

virtual void	InjectKRMmatrices (ChSystemDescriptor &mdescriptor)
	Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this.

virtual void	KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor)
	Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More...

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
Public Types inherited from chrono::ChLinkMotorLinear
enum	GuideConstraint { FREE, PRISMATIC, SPHERICAL }
	Type of guide constraint.

Public Types inherited from chrono::ChLinkMateGeneric
using	ChConstraintVectorX = Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor, 6, 1 >

Protected Member Functions inherited from chrono::ChLinkMateGeneric
void	SetupLinkMask ()

void	ChangedLinkMask ()

Protected Attributes inherited from chrono::ChLinkMotorLinear
double	mpos

double	mpos_dt

double	mpos_dtdt

Protected Attributes inherited from chrono::ChLinkMotor
std::shared_ptr< ChFunction >	m_func

Protected Attributes inherited from chrono::ChLinkMateGeneric
ChFrame	frame1

ChFrame	frame2

bool	c_x

bool	c_y

bool	c_z

bool	c_rx

bool	c_ry

bool	c_rz

int	ndoc
	number of DOC, degrees of constraint

int	ndoc_c
	number of DOC, degrees of constraint (only bilaterals)

int	ndoc_d
	number of DOC, degrees of constraint (only unilaterals)

ChLinkMask	mask

ChConstraintVectorX	C
	residuals

Protected Attributes inherited from chrono::ChLink
ChBodyFrame *	Body1
	first connected body

ChBodyFrame *	Body2
	second connected body

ChVector	react_force
	store the xyz reactions, expressed in local coordinate system of link;

ChVector	react_torque
	store the torque reactions, expressed in local coordinate system of link;

Protected Attributes inherited from chrono::ChLinkBase
bool	disabled
	all constraints of link disabled because of user needs

bool	valid
	link data is valid

bool	broken
	link is broken because of excessive pulling/pushing.

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

std::vector< std::shared_ptr< ChAsset > >	assets
	set of assets

unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

unsigned int	offset_L
	offset in vector of lagrangian multipliers

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

Member Function Documentation

◆ ArchiveIN()

void chrono::ChLinkMotorLinearDriveline::ArchiveIN ( ChArchiveIn & marchive )

overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChLinkMotorLinear.

◆ ConstraintsFetch_react()

void chrono::ChLinkMotorLinearDriveline::ConstraintsFetch_react ( double factor = 1 )

overridevirtual

Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.

Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.

Reimplemented from chrono::ChLinkMateGeneric.

◆ GetDOF()

int chrono::ChLinkMotorLinearDriveline::GetDOF ( )

overridevirtual

Get the number of scalar coordinates (variables), if any, in this item.

Children classes must override this.

Reimplemented from chrono::ChPhysicsItem.

◆ GetInnerShaft1lin()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft1lin ( ) const

inline

Access the inner 1D shaft connected to the translation of body1 about dir of linear guide.

The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2lin()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft2lin ( ) const

inline

Access the inner 1D shaft connected to the translation of body2 about dir of linear guide.

The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2rot()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft2rot ( ) const

inline

Access the inner 1D shaft connected to the rotation of body2 about dir of linear guide.

This is needed because one might need to design a driveline with rotational 1D components such as ChShaftsMotor, that require an anchoring to a rotational shaft. The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2RotDirection()

ChVector chrono::ChLinkMotorLinearDriveline::GetInnerShaft2RotDirection ( ) const

inline

Get the direction of the inner rotation axis for body2, expressed in link coordinates Default is VECT_X, same dir of guide, i.e.

useful when anchoring drives with screw transmission.

◆ GetInnerTorque2()

double chrono::ChLinkMotorLinearDriveline::GetInnerTorque2 ( ) const

inline

Get the torque between body 2 and inner rotational shaft 2 (ex.

might be caused by the inertia reaction of an internal rotation motor that is accelerating)

◆ Initialize() [1/3]

void chrono::ChLinkMotorLinearDriveline::Initialize	(	std::shared_ptr< ChBodyFrame >	mbody1,
		std::shared_ptr< ChBodyFrame >	mbody2,
		bool	pos_are_relative,
		ChFrame<>	mframe1,
		ChFrame<>	mframe2
	)

overridevirtual

Specialized initialization for LinkMotorLinearDriveline, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs.

coordinates).

Parameters

mbody1	first body to link
mbody2	second body to link
pos_are_relative	true: following pos. are relative to bodies
mframe1	slave frame 1 (rel. or abs.)
mframe2	master frame 2 (rel. or abs.)

Reimplemented from chrono::ChLinkMateGeneric.

◆ Initialize() [2/3]

void chrono::ChLinkMotorLinearDriveline::Initialize	(	std::shared_ptr< ChBodyFrame >	mbody1,
		std::shared_ptr< ChBodyFrame >	mbody2,
		bool	pos_are_relative,
		ChVector<>	mpt1,
		ChVector<>	mpt2,
		ChVector<>	mnorm1,
		ChVector<>	mnorm2
	)

overridevirtual

Specialized initialization for LinkMotorLinearDriveline based on passing two vectors (point + dir) on the two bodies, which will represent the X axes of the two frames (Y and Z will be built from the X vector via Gram Schmidt orthonormalization).

Parameters

mbody1	first body to link
mbody2	second body to link
pos_are_relative	true: following pos. are relative to bodies
mpt1	origin of slave frame 1 (rel. or abs.)
mpt2	origin of master frame 2 (rel. or abs.)
mnorm1	X axis of slave plane 1 (rel. or abs.)
mnorm2	X axis of master plane 2 (rel. or abs.)

Reimplemented from chrono::ChLinkMateGeneric.

◆ Initialize() [3/3]

void chrono::ChLinkMotorLinearDriveline::Initialize	(	std::shared_ptr< ChBodyFrame >	mbody1,
		std::shared_ptr< ChBodyFrame >	mbody2,
		ChFrame<>	mabsframe
	)

overridevirtual

Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame).

Parameters

mbody1	first body to link
mbody2	second body to link
mabsframe	mate frame, in abs. coordinate

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntFromDescriptor()

void chrono::ChLinkMotorLinearDriveline::IntFromDescriptor	(	const unsigned int	off_v,
		ChStateDelta &	v,
		const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

overridevirtual

After a solver solution, fetch values from variables and constraints into vectors:

Parameters

off_v	offset for v
v	vector to where the q 'unknowns' term of the variables will be copied
off_L	offset for L
L	vector to where L 'lagrangian ' term of the constraints will be copied

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntLoadConstraint_C()

void chrono::ChLinkMotorLinearDriveline::IntLoadConstraint_C	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c,
		bool	do_clamp,
		double	recovery_clamp
	)

overridevirtual

Takes the term C, scale and adds to Qc at given offset: Qc += c*C.

Parameters

off	offset in Qc residual
Qc	result: the Qc residual, Qc += c*C
c	a scaling factor
do_clamp	apply clamping to c*C?
recovery_clamp	value for min/max clamping of c*C

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntLoadConstraint_Ct()

void chrono::ChLinkMotorLinearDriveline::IntLoadConstraint_Ct	(	const unsigned int	off,
		ChVectorDynamic<> &	Qc,
		const double	c
	)

overridevirtual

Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.

Parameters

off	offset in Qc residual
Qc	result: the Qc residual, Qc += c*Ct
c	a scaling factor

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntLoadResidual_CqL()

void chrono::ChLinkMotorLinearDriveline::IntLoadResidual_CqL	(	const unsigned int	off_L,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	L,
		const double	c
	)

overridevirtual

Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.

Parameters

off_L	offset in L multipliers
R	result: the R residual, R += cCq'L
L	the L vector
c	a scaling factor

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntLoadResidual_F()

void chrono::ChLinkMotorLinearDriveline::IntLoadResidual_F	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const double	c
	)

overridevirtual

Takes the F force term, scale and adds to R at given offset: R += c*F.

Parameters

off	offset in R residual
R	result: the R residual, R += c*F
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntLoadResidual_Mv()

void chrono::ChLinkMotorLinearDriveline::IntLoadResidual_Mv	(	const unsigned int	off,
		ChVectorDynamic<> &	R,
		const ChVectorDynamic<> &	w,
		const double	c
	)

overridevirtual

Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w.

Parameters

off	offset in R residual
R	result: the R residual, R += cMv
w	the w vector
c	a scaling factor

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGather()

void chrono::ChLinkMotorLinearDriveline::IntStateGather	(	const unsigned int	off_x,
		ChState &	x,
		const unsigned int	off_v,
		ChStateDelta &	v,
		double &	T
	)

overridevirtual

From item's state to global state vectors y={x,v} pasting the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherAcceleration()

void chrono::ChLinkMotorLinearDriveline::IntStateGatherAcceleration	(	const unsigned int	off_a,
		ChStateDelta &	a
	)

overridevirtual

From item's state acceleration to global acceleration vector.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateGatherReactions()

void chrono::ChLinkMotorLinearDriveline::IntStateGatherReactions	(	const unsigned int	off_L,
		ChVectorDynamic<> &	L
	)

overridevirtual

From item's reaction forces to global reaction vector.

Parameters

off_L	offset in L vector
L	L vector of reaction forces

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntStateIncrement()

void chrono::ChLinkMotorLinearDriveline::IntStateIncrement	(	const unsigned int	off_x,
		ChState &	x_new,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	Dv
	)

overridevirtual

Computes x_new = x + Dt , using vectors at specified offsets.

By default, when DOF = DOF_w, it does just the sum, but in some cases (ex when using quaternions for rotations) it could do more complex stuff, and children classes might overload it.

Parameters

off_x	offset in x state vector
x_new	state vector, position part, incremented result
x	state vector, initial position part
off_v	offset in v state vector
Dv	state vector, increment

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatter()

void chrono::ChLinkMotorLinearDriveline::IntStateScatter	(	const unsigned int	off_x,
		const ChState &	x,
		const unsigned int	off_v,
		const ChStateDelta &	v,
		const double	T
	)

overridevirtual

From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets.

Parameters

off_x	offset in x state vector
x	state vector, position part
off_v	offset in v state vector
v	state vector, speed part
T	time

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterAcceleration()

void chrono::ChLinkMotorLinearDriveline::IntStateScatterAcceleration	(	const unsigned int	off_a,
		const ChStateDelta &	a
	)

overridevirtual

From global acceleration vector to item's state acceleration.

Parameters

off_a	offset in a accel. vector
a	acceleration part of state vector derivative

Reimplemented from chrono::ChPhysicsItem.

◆ IntStateScatterReactions()

void chrono::ChLinkMotorLinearDriveline::IntStateScatterReactions	(	const unsigned int	off_L,
		const ChVectorDynamic<> &	L
	)

overridevirtual

From global reaction vector to item's reaction forces.

Parameters

off_L	offset in L vector
L	L vector of reaction forces

Reimplemented from chrono::ChLinkMateGeneric.

◆ IntToDescriptor()

void chrono::ChLinkMotorLinearDriveline::IntToDescriptor	(	const unsigned int	off_v,
		const ChStateDelta &	v,
		const ChVectorDynamic<> &	R,
		const unsigned int	off_L,
		const ChVectorDynamic<> &	L,
		const ChVectorDynamic<> &	Qc
	)

overridevirtual

Prepare variables and constraints to accommodate a solution:

Parameters

off_v	offset for v and R
v	vector that will be copied into the q 'unknowns' term of the variables (for warm starting)
R	vector that will be copied into the F 'force' term of the variables
off_L	offset for L and Qc
L	vector that will be copied into the L 'lagrangian ' term of the constraints (for warm starting)
Qc	vector that will be copied into the Qb 'constraint' term of the constraints

Reimplemented from chrono::ChLinkMateGeneric.

◆ SetInnerShaft2RotDirection()

void chrono::ChLinkMotorLinearDriveline::SetInnerShaft2RotDirection ( ChVector<> md )

inline

Set the direction of the inner rotation axis for body2, expressed in link coordinates Default is VECT_X, same dir of guide, i.e.

useful when anchoring drives with screw transmission.

◆ VariablesFbIncrementMq()

void chrono::ChLinkMotorLinearDriveline::VariablesFbIncrementMq ( )

overridevirtual

Adds M*q (masses multiplied current 'qb') to Fb, ex.

if qb is initialized with v_old using VariablesQbLoadSpeed, this method can be used in timestepping schemes that do: M*v_new = M*v_old + forces*dt

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbIncrementPosition()

void chrono::ChLinkMotorLinearDriveline::VariablesQbIncrementPosition ( double step )

overridevirtual

Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor.

pos+=qb*step If qb is a speed, this behaves like a single step of 1-st order numerical integration (Eulero integration).

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbLoadSpeed()

void chrono::ChLinkMotorLinearDriveline::VariablesQbLoadSpeed ( )

overridevirtual

Initialize the 'qb' part of the ChVariables with the current value of speeds.

Note: since 'qb' is the unknown, this function seems unnecessary, unless used before VariablesFbIncrementMq()

Reimplemented from chrono::ChPhysicsItem.

◆ VariablesQbSetSpeed()

void chrono::ChLinkMotorLinearDriveline::VariablesQbSetSpeed ( double step = 0 )

overridevirtual

Fetches the item speed (ex.

linear and angular vel.in rigid bodies) from the 'qb' part of the ChVariables and sets it as the current item speed. If 'step' is not 0, also should compute the approximate acceleration of the item using backward differences, that is accel=(new_speed-old_speed)/step. Mostly used after the solver provided the solution in ChVariables.

Reimplemented from chrono::ChPhysicsItem.

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

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

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ ArchiveIN()

◆ ConstraintsFetch_react()

◆ GetDOF()

◆ GetInnerShaft1lin()

◆ GetInnerShaft2lin()

◆ GetInnerShaft2rot()

◆ GetInnerShaft2RotDirection()

◆ GetInnerTorque2()

◆ Initialize() [1/3]

◆ Initialize() [2/3]

◆ Initialize() [3/3]

◆ IntFromDescriptor()

◆ IntLoadConstraint_C()

◆ IntLoadConstraint_Ct()

◆ IntLoadResidual_CqL()

◆ IntLoadResidual_F()

◆ IntLoadResidual_Mv()

◆ IntStateGather()

◆ IntStateGatherAcceleration()

◆ IntStateGatherReactions()

◆ IntStateIncrement()

◆ IntStateScatter()

◆ IntStateScatterAcceleration()

◆ IntStateScatterReactions()

◆ IntToDescriptor()

◆ SetInnerShaft2RotDirection()

◆ VariablesFbIncrementMq()

◆ VariablesQbIncrementPosition()

◆ VariablesQbLoadSpeed()

◆ VariablesQbSetSpeed()