Description
Class for translational spring-damper-actuator (TSDA) with the force optionally specified through a functor object (default, linear TSDA).
Optionally, a ChLinkTSDA can have internal dynamics, described by a system of ODEs. The internal states are integrated simultaneous with the containing system and they can be accessed and used in the force calculation. ChLinkTSDA provides optional support for computing Jacobians of the generalized forces.
#include <ChLinkTSDA.h>
Classes | |
class | ForceFunctor |
Class to be used as a callback interface for calculating the general spring-damper force. More... | |
class | ODE |
Class to be used as a callback interface for specifying the ODE, y' = f(t,y); y(0) = y0. More... | |
Public Member Functions | |
ChLinkTSDA (const ChLinkTSDA &other) | |
virtual ChLinkTSDA * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
void | SetRestLength (double len) |
Set spring rest (free) length. More... | |
void | SetSpringCoefficient (double k) |
Set spring coefficient (default: 0). More... | |
void | SetDampingCoefficient (double r) |
Set damping coefficient (default: 0). More... | |
void | SetActuatorForce (double f) |
Set constant actuation force (default: 0). More... | |
void | IsStiff (bool val) |
Declare the forces generated by this spring as stiff (default: false). More... | |
const ChVectorDynamic & | GetStates () const |
Get current states. | |
double | GetRestLength () const |
Get the spring rest (free) length. | |
double | GetLength () const |
Get current length. | |
double | GetDeformation () const |
Get current deformation. | |
double | GetVelocity () const |
Get current length rate of change. | |
double | GetForce () const |
Get current force (in the direction of the force element). | |
const ChVector & | GetPoint1Rel () const |
Get the endpoint location on 1st body (expressed in body coordinate system) | |
const ChVector & | GetPoint1Abs () const |
Get the endpoint location on 1st body (expressed in absolute coordinate system) | |
const ChVector & | GetPoint2Rel () const |
Get the endpoint location on 2nd body (expressed in body coordinate system) | |
const ChVector & | GetPoint2Abs () const |
Get the endpoint location on 1st body (expressed in absolute coordinate system) | |
double | GetSpringCoefficient () const |
Get the value of the spring coefficient. More... | |
double | GetDampingCoefficient () const |
Get the value of the damping coefficient. More... | |
double | GetActuatorForce () const |
Get the constant acutation force. More... | |
void | RegisterForceFunctor (ForceFunctor *functor) |
Specify the functor object for calculating the force. | |
void | RegisterODE (ODE *functor) |
Specify the functor object for calculating the ODE right-hand side. | |
void | Initialize (std::shared_ptr< ChBody > body1, std::shared_ptr< ChBody > body2, bool pos_are_relative, ChVector<> loc1, ChVector<> loc2, bool auto_rest_length=true, double rest_length=0) |
Initialize the spring, specifying the two bodies to be connected, the location of the two anchor points of each body (each expressed in body or absolute coordinates), and the imposed rest length of the spring. 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::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 | GetLinkRelativeCoords () |
Get the link coordinate system, expressed relative to Body2 (the 'master' body). More... | |
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 int | RestoreRedundant () |
If some constraint is redundant, return to normal state //***OBSOLETE***. | |
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. | |
virtual void | SetDisabled (bool mdis) |
User can use this to enable/disable all the constraint of the link as desired. | |
bool | IsBroken () |
Tells if the link is broken, for excess of pulling/pushing. | |
virtual void | SetBroken (bool mon) |
Set the 'broken' status vof this link. | |
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 ChFrame | GetAssetsFrame (unsigned int nclone=0) override |
Get the master coordinate system for the assets, in absolute reference. 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() | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem() and also add to new collision system / remove from old coll.system. | |
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 | Setup () |
This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
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... | |
virtual int | GetDOC () |
Get the number of scalar constraints, if any, in this item. | |
virtual int | GetDOC_c () |
Get the number of scalar constraints, if any, in this item (only bilateral constr.) Children classes might override this. | |
virtual int | GetDOC_d () |
Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. | |
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 | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) |
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) |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) |
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 () |
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) |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) |
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 | 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 | ConstraintsLoadJacobians () |
Adds the current jacobians in encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. 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 () |
Friends | |
class | ChSystemParallel |
Additional Inherited Members | |
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
◆ GetActuatorForce()
|
inline |
Get the constant acutation force.
Meaningful only if no force functor is provided.
◆ GetDampingCoefficient()
|
inline |
Get the value of the damping coefficient.
Meaningful only if no force functor is provided.
◆ GetSpringCoefficient()
|
inline |
Get the value of the spring coefficient.
Meaningful only if no force functor is provided.
◆ Initialize()
void chrono::ChLinkTSDA::Initialize | ( | std::shared_ptr< ChBody > | body1, |
std::shared_ptr< ChBody > | body2, | ||
bool | pos_are_relative, | ||
ChVector<> | loc1, | ||
ChVector<> | loc2, | ||
bool | auto_rest_length = true , |
||
double | rest_length = 0 |
||
) |
Initialize the spring, specifying the two bodies to be connected, the location of the two anchor points of each body (each expressed in body or absolute coordinates), and the imposed rest length of the spring.
- Parameters
-
body1 first body to link body2 second body to link pos_are_relative if true, point locations are relative to bodies loc1 point on 1st body (rel. or abs., see flag above) loc2 point on 2nd body (rel. or abs., see flag above) auto_rest_length if true, initializes the rest length as the distance between loc1 and loc2 rest_length rest length (no need to define if auto_rest_length=true.)
◆ IsStiff()
|
inline |
Declare the forces generated by this spring as stiff (default: false).
If stiff, Jacobian information will be generated.
◆ SetActuatorForce()
|
inline |
Set constant actuation force (default: 0).
Used only if no force functor is provided.
◆ SetDampingCoefficient()
|
inline |
Set damping coefficient (default: 0).
Used only if no force functor is provided.
◆ SetRestLength()
|
inline |
Set spring rest (free) length.
Optionally, the free length can be calculated from the initial configuration (see Initialize).
◆ SetSpringCoefficient()
|
inline |
Set spring coefficient (default: 0).
Used only if no force functor is provided.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChLinkTSDA.h
- /builds/uwsbel/chrono/src/chrono/physics/ChLinkTSDA.cpp