Description

A rotation function q=f(s) where q(s) is defined with axis V and angle alpha, assuming fixed axis of rotation V and a angle of rotation alpha about that axis, expressed with a ChFunction object alpha=alpha(s).

By default, the axis is the Z axis, and rotation is constant zero rotation.

#include <ChFunctionRotation_axis.h>

Inheritance diagram for chrono::ChFunctionRotation_axis:

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Collaboration diagram for chrono::ChFunctionRotation_axis:

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Public Member Functions
	ChFunctionRotation_axis (const ChFunctionRotation_axis &other)

virtual ChFunctionRotation_axis *	Clone () const override
	"Virtual" copy constructor.

void	SetFunctionAngle (std::shared_ptr< ChFunction > mx)
	Set the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

std::shared_ptr< ChFunction >	GetFunctionAngle ()
	Get the angle(s) function expressing the rotation about the fixed axis of rotation. Angle assumed in radians.

void	SetAxis (const ChVector<> &mv)
	Set the fixed axis of rotation. It must be unit length. Default Z vector.

ChVector	GetAxis ()
	Get the fixed axis of rotation.

virtual ChQuaternion	Get_q (double s) const override
	Return the rotation as a quaternion, function of s, as q=f(s).

virtual ChVector	Get_w_loc (double s) const override
	Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame.

virtual ChVector	Get_a_loc (double s) const override
	Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame.

virtual void	ArchiveOUT (ChArchiveOut &marchive) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIN (ChArchiveIn &marchive) override
	Method to allow de-serialization of transient data from archives.

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

virtual void	Estimate_s_domain (double &smin, double &smax) const
	Return an estimate of the domain of the function argument. More...

virtual void	Update (const double t)
	Update could be implemented by children classes, ex. to launch callbacks.

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

/builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_axis.h
/builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_axis.cpp

Description

Public Member Functions